mujoco-react 9.1.0 → 9.3.0

package/dist/spark.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
 import * as _sparkjsdev_spark from '@sparkjsdev/spark';
-import { n as SplatEnvironmentProps } from './types-C5gTvR7b.js';
+import { n as SplatEnvironmentProps, q as PairedSplatEnvironmentConfig, S as SceneConfig, t as SplatEnvironmentReadiness, o as VisualScenarioConfig } from './types-oxbxOkAx.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';
@@ -17,6 +17,14 @@ interface SparkSplatLifecycle {
     props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;
     reset: () => void;
 }
+interface SparkSplatEnvironmentState {
+    environment: PairedSplatEnvironmentConfig | undefined;
+    sceneConfig: SceneConfig;
+    readiness: SplatEnvironmentReadiness;
+    lifecycle: SparkSplatLifecycle;
+    props: Pick<SparkSplatEnvironmentProps, 'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'>;
+    enabled: boolean;
+}
 interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
     /** Enable Spark LoD handling for large splat assets. Default: true. */
     lod?: boolean | 'quality';
@@ -30,6 +38,20 @@ interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
     onLoad?: (mesh: SparkSplatMeshInstance) => void;
     onError?: (error: Error) => void;
 }
+/**
+ * Resolve a visual scenario's paired splat environment, compose its MJCF
+ * collision proxy into the MuJoCo scene config, and expose Spark lifecycle
+ * props for `<SparkSplatEnvironment />`.
+ */
+declare function useSparkSplatEnvironment({ sceneConfig, scenario, environment, enabled, renderer, onError, onStatusChange, }: {
+    sceneConfig: SceneConfig;
+    scenario?: VisualScenarioConfig;
+    environment?: PairedSplatEnvironmentConfig;
+    enabled?: boolean;
+    renderer?: 'spark';
+    onError?: (error: Error) => void;
+    onStatusChange?: (status: SparkSplatStatus) => void;
+}): SparkSplatEnvironmentState;
 /**
  * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.
  *
@@ -50,4 +72,4 @@ declare function useSparkSplatLifecycle({ enabled, initialStatus, onError, onSta
  */
 declare function SparkSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, showPlaceholder, children, lod, hideGroundMeshes, onStatusChange, onLoad, onError, ...groupProps }: SparkSplatEnvironmentProps): react_jsx_runtime.JSX.Element;
 
-export { SparkSplatEnvironment, type SparkSplatEnvironmentProps, type SparkSplatLifecycle, type SparkSplatStatus, useSparkSplatLifecycle };
+export { SparkSplatEnvironment, type SparkSplatEnvironmentProps, type SparkSplatEnvironmentState, type SparkSplatLifecycle, type SparkSplatStatus, useSparkSplatEnvironment, useSparkSplatLifecycle };

package/dist/spark.js

@@ -1,9 +1,56 @@
-import { useSplatEnvironment, SplatEnvironment } from './chunk-33CV6HSV.js';
+import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment } from './chunk-T3GVZJ4F.js';
 import { useThree } from '@react-three/fiber';
-import { useState, useEffect, useCallback, useMemo, useRef } from 'react';
+import { useMemo, useState, useEffect, useCallback, useRef } from 'react';
 import * as THREE from 'three';
 import { jsxs, jsx } from 'react/jsx-runtime';
 
+var sparkDisposeRejectionHandlerRegistered = false;
+function useSparkSplatEnvironment({
+  sceneConfig,
+  scenario,
+  environment,
+  enabled = true,
+  renderer = "spark",
+  onError,
+  onStatusChange
+}) {
+  const splatScene = useSplatSceneConfig({
+    sceneConfig,
+    scenario,
+    environment,
+    enabled,
+    renderer
+  });
+  const metadata = useSplatEnvironment({
+    scenario,
+    environment: splatScene.environment,
+    renderer
+  });
+  const renderEnabled = enabled && Boolean(metadata.src);
+  const readiness = enabled ? metadata.readiness : splatScene.readiness;
+  const lifecycle = useSparkSplatLifecycle({
+    enabled: renderEnabled,
+    onError,
+    onStatusChange
+  });
+  return useMemo(
+    () => ({
+      environment: splatScene.environment,
+      sceneConfig: splatScene.sceneConfig,
+      readiness,
+      lifecycle,
+      props: {
+        environment: splatScene.environment,
+        scenario: enabled ? scenario : void 0,
+        src: enabled ? metadata.src : void 0,
+        format: metadata.format,
+        ...lifecycle.props
+      },
+      enabled: renderEnabled
+    }),
+    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]
+  );
+}
 function useSparkSplatLifecycle({
   enabled = true,
   initialStatus,
@@ -101,6 +148,7 @@ function SparkSplatEnvironment({
   }, [onError]);
   useEffect(() => {
     let disposed = false;
+    ensureSparkDisposeRejectionHandler();
     function setLifecycleStatus(nextStatus) {
       setStatus(nextStatus);
       onStatusChangeRef.current?.(nextStatus);
@@ -208,6 +256,7 @@ function SparkSplatEnvironment({
 }
 function safelyDisposeSparkResource(resource) {
   try {
+    silenceSparkWorkerTerminateRejections(resource);
     const result = resource.dispose?.();
     if (isPromiseLike(result)) {
       void Promise.resolve(result).catch(handleSparkDisposeError);
@@ -219,17 +268,54 @@ function safelyDisposeSparkResource(resource) {
 function isPromiseLike(value) {
   return typeof value === "object" && value !== null && "then" in value && typeof value.then === "function";
 }
+function silenceSparkWorkerTerminateRejections(resource) {
+  const workers = getSparkWorkers(resource);
+  for (const worker of workers) {
+    if (!worker.messages) continue;
+    for (const message of Object.values(worker.messages)) {
+      const reject = message.reject;
+      if (!reject) continue;
+      message.reject = (error) => {
+        if (!isSparkWorkerTerminateError(error)) {
+          reject(error);
+        }
+      };
+    }
+  }
+}
+function getSparkWorkers(resource) {
+  const sparkResource = resource;
+  return [
+    sparkResource.worker,
+    sparkResource.sortWorker,
+    sparkResource.lodWorker
+  ].filter((worker) => Boolean(worker));
+}
 function handleSparkDisposeError(error) {
   if (error instanceof Error && error.message.toLowerCase().includes("worker terminate")) {
     return;
   }
   console.warn("[mujoco-react] Spark resource disposal failed.", error);
 }
+function ensureSparkDisposeRejectionHandler() {
+  if (sparkDisposeRejectionHandlerRegistered || typeof window === "undefined" || typeof window.addEventListener !== "function") {
+    return;
+  }
+  sparkDisposeRejectionHandlerRegistered = true;
+  window.addEventListener("unhandledrejection", (event) => {
+    if (isSparkWorkerTerminateError(event.reason)) {
+      event.preventDefault();
+    }
+  });
+}
+function isSparkWorkerTerminateError(reason) {
+  return reason instanceof Error && reason.message.toLowerCase().includes("worker terminate");
+}
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
  */
 
-export { SparkSplatEnvironment, useSparkSplatLifecycle };
+export { SparkSplatEnvironment, useSparkSplatEnvironment, useSparkSplatLifecycle };
 //# sourceMappingURL=spark.js.map
 //# sourceMappingURL=spark.js.map

package/dist/spark.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/spark.tsx"],"names":[],"mappings":";;;;;;AA6DO,SAAS,sBAAA,CAAuB;AAAA,EACrC,OAAA,GAAU,IAAA;AAAA,EACV,aAAA;AAAA,EACA,OAAA;AAAA,EACA;AACF,CAAA,GAKI,EAAC,EAAwB;AAC3B,EAAA,MAAM,CAAC,MAAA,EAAQ,SAAS,CAAA,GAAI,QAAA;AAAA,IAC1B,aAAA,KAAkB,UAAU,SAAA,GAAY,MAAA;AAAA,GAC1C;AACA,EAAA,MAAM,CAAC,KAAA,EAAO,QAAQ,CAAA,GAAI,SAAuB,IAAI,CAAA;AAErD,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,SAAA,CAAU,OAAA,GAAU,aAAA,IAAiB,SAAA,GAAY,MAAM,CAAA;AACvD,IAAA,QAAA,CAAS,IAAI,CAAA;AAAA,EACf,CAAA,EAAG,CAAC,OAAA,EAAS,aAAa,CAAC,CAAA;AAE3B,EAAA,MAAM,kBAAA,GAAqB,WAAA;AAAA,IACzB,CAAC,UAAA,KAAiC;AAChC,MAAA,SAAA,CAAU,UAAU,CAAA;AACpB,MAAA,IAAI,eAAe,OAAA,EAAS;AAC1B,QAAA,QAAA,CAAS,IAAI,CAAA;AAAA,MACf;AACA,MAAA,cAAA,GAAiB,UAAU,CAAA;AAAA,IAC7B,CAAA;AAAA,IACA,CAAC,cAAc;AAAA,GACjB;AAEA,EAAA,MAAM,WAAA,GAAc,WAAA;AAAA,IAClB,CAAC,SAAA,KAAqB;AACpB,MAAA,QAAA,CAAS,SAAS,CAAA;AAClB,MAAA,SAAA,CAAU,OAAO,CAAA;AACjB,MAAA,OAAA,GAAU,SAAS,CAAA;AAAA,IACrB,CAAA;AAAA,IACA,CAAC,OAAO;AAAA,GACV;AAEA,EAAA,MAAM,KAAA,GAAQ,YAAY,MAAM;AAC9B,IAAA,SAAA,CAAU,OAAA,GAAU,aAAA,IAAiB,SAAA,GAAY,MAAM,CAAA;AACvD,IAAA,QAAA,CAAS,IAAI,CAAA;AAAA,EACf,CAAA,EAAG,CAAC,OAAA,EAAS,aAAa,CAAC,CAAA;AAE3B,EAAA,OAAO,OAAA;AAAA,IACL,OAAO;AAAA,MACL,MAAA;AAAA,MACA,KAAA;AAAA,MACA,WAAW,MAAA,KAAW,SAAA;AAAA,MACtB,SAAS,MAAA,KAAW,OAAA;AAAA,MACpB,SAAS,MAAA,KAAW,OAAA;AAAA,MACpB,KAAA,EAAO;AAAA,QACL,cAAA,EAAgB,kBAAA;AAAA,QAChB,OAAA,EAAS;AAAA,OACX;AAAA,MACA;AAAA,KACF,CAAA;AAAA,IACA,CAAC,KAAA,EAAO,WAAA,EAAa,kBAAA,EAAoB,OAAO,MAAM;AAAA,GACxD;AACF;AAQO,SAAS,qBAAA,CAAsB;AAAA,EACpC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA,GAAW,OAAA;AAAA,EACX,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,sBAAA;AAAA,EACA,eAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA,GAAM,IAAA;AAAA,EACN,gBAAA,GAAmB,KAAA;AAAA,EACnB,cAAA;AAAA,EACA,MAAA;AAAA,EACA,OAAA;AAAA,EACA,GAAG;AACL,CAAA,EAA+B;AAC7B,EAAA,MAAM,QAAA,GAAW,OAAoB,IAAI,CAAA;AACzC,EAAA,MAAM,QAAA,GAAW,OAAqC,IAAI,CAAA;AAC1D,EAAA,MAAM,OAAA,GAAU,OAAsC,IAAI,CAAA;AAC1D,EAAA,MAAM,eAAA,GAAkB,MAAA,CAAqB,EAAE,CAAA;AAC/C,EAAA,MAAM,iBAAA,GAAoB,OAAO,cAAc,CAAA;AAC/C,EAAA,MAAM,SAAA,GAAY,OAAO,MAAM,CAAA;AAC/B,EAAA,MAAM,UAAA,GAAa,OAAO,OAAO,CAAA;AACjC,EAAA,MAAM,CAAC,MAAA,EAAQ,SAAS,CAAA,GAAI,SAA2B,MAAM,CAAA;AAC7D,EAAA,MAAM,EAAE,EAAA,EAAI,UAAA,EAAW,GAAI,QAAA,EAAS;AACpC,EAAA,MAAM,WAAW,mBAAA,CAAoB;AAAA,IACnC,WAAA;AAAA,IACA,QAAA;AAAA,IACA,QAAA;AAAA,IACA,GAAA;AAAA,IACA,MAAA;AAAA,IACA,cAAA,EAAgB;AAAA,GACjB,CAAA;AAED,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,iBAAA,CAAkB,OAAA,GAAU,cAAA;AAAA,EAC9B,CAAA,EAAG,CAAC,cAAc,CAAC,CAAA;AAEnB,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,SAAA,CAAU,OAAA,GAAU,MAAA;AAAA,EACtB,CAAA,EAAG,CAAC,MAAM,CAAC,CAAA;AAEX,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,UAAA,CAAW,OAAA,GAAU,OAAA;AAAA,EACvB,CAAA,EAAG,CAAC,OAAO,CAAC,CAAA;AAEZ,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,IAAI,QAAA,GAAW,KAAA;AAEf,IAAA,SAAS,mBAAmB,UAAA,EAA8B;AACxD,MAAA,SAAA,CAAU,UAAU,CAAA;AACpB,MAAA,iBAAA,CAAkB,UAAU,UAAU,CAAA;AAAA,IACxC;AAEA,IAAA,SAAS,mBAAA,GAAsB;AAC7B,MAAA,KAAA,MAAW,IAAA,IAAQ,gBAAgB,OAAA,EAAS;AAC1C,QAAA,IAAA,CAAK,OAAA,GAAU,IAAA;AAAA,MACjB;AACA,MAAA,eAAA,CAAgB,UAAU,EAAC;AAAA,IAC7B;AAEA,IAAA,eAAe,SAAA,GAAY;AACzB,MAAA,IAAI,CAAC,SAAS,GAAA,EAAK;AACjB,QAAA,kBAAA,CAAmB,MAAM,CAAA;AACzB,QAAA;AAAA,MACF;AAEA,MAAA,IAAI,QAAA,CAAS,WAAW,KAAA,EAAO;AAC7B,QAAA,MAAM,yBAAyB,IAAI,KAAA;AAAA,UACjC,CAAA,2DAAA,EAA8D,SAAS,MAAM,CAAA,EAAA;AAAA,SAC/E;AACA,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,UAAA,CAAW,UAAU,sBAAsB,CAAA;AAC3C,QAAA;AAAA,MACF;AAEA,MAAA,kBAAA,CAAmB,SAAS,CAAA;AAE5B,MAAA,IAAI;AACF,QAAA,MAAM,WAAA,GAAc,MAAM,OAAO,mBAAmB,CAAA;AACpD,QAAA,IAAI,QAAA,IAAY,CAAC,QAAA,CAAS,OAAA,EAAS;AAEnC,QAAA,MAAM,KAAA,GAAQ,IAAI,WAAA,CAAY,aAAA,CAAc;AAAA,UAC1C,QAAA,EAAU,EAAA;AAAA,UACV,OAAA,EAAS;AAAA,SACV,CAAA;AACD,QAAA,MAAM,IAAA,GAAO,IAAI,WAAA,CAAY,SAAA,CAAU;AAAA,UACrC,KAAK,QAAA,CAAS,GAAA;AAAA,UACd;AAAA,SACD,CAAA;AACD,QAAA,IAAA,CAAK,IAAA,GAAO,mBAAA;AAEZ,QAAA,QAAA,CAAS,OAAA,CAAQ,IAAI,KAAK,CAAA;AAC1B,QAAA,QAAA,CAAS,OAAA,CAAQ,IAAI,IAAI,CAAA;AACzB,QAAA,QAAA,CAAS,OAAA,GAAU,KAAA;AACnB,QAAA,OAAA,CAAQ,OAAA,GAAU,IAAA;AAElB,QAAA,IAAI,gBAAA,IAAoB,QAAA,CAAS,OAAA,CAAQ,MAAA,EAAQ;AAC/C,UAAA,QAAA,CAAS,OAAA,CAAQ,MAAA,CAAO,QAAA,CAAS,CAAC,MAAA,KAAW;AAC3C,YAAA,IACE,EAAE,MAAA,YAAwB,KAAA,CAAA,IAAA,CAAA,IAC1B,MAAA,KAAY,IAAA,EACZ;AACA,cAAA;AAAA,YACF;AACA,YAAA,MAAM,IAAA,GAAO,MAAA,CAAO,IAAA,CAAK,WAAA,EAAY;AACrC,YAAA,IACE,IAAA,CAAK,QAAA,CAAS,OAAO,CAAA,IACrB,IAAA,CAAK,QAAA,CAAS,QAAQ,CAAA,IACtB,IAAA,CAAK,QAAA,CAAS,OAAO,CAAA,EACrB;AACA,cAAA,MAAA,CAAO,OAAA,GAAU,KAAA;AACjB,cAAA,eAAA,CAAgB,OAAA,CAAQ,KAAK,MAAM,CAAA;AAAA,YACrC;AAAA,UACF,CAAC,CAAA;AAAA,QACH;AAEA,QAAA,MAAM,IAAA,CAAK,WAAA;AACX,QAAA,IAAI,QAAA,EAAU;AACd,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,SAAA,CAAU,UAAU,IAAI,CAAA;AACxB,QAAA,UAAA,EAAW;AAAA,MACb,SAAS,KAAA,EAAO;AACd,QAAA,MAAM,eAAA,GACJ,iBAAiB,KAAA,GAAQ,KAAA,GAAQ,IAAI,KAAA,CAAM,MAAA,CAAO,KAAK,CAAC,CAAA;AAC1D,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,UAAA,CAAW,UAAU,eAAe,CAAA;AAAA,MACtC;AAAA,IACF;AAEA,IAAA,KAAK,SAAA,EAAU;AAEf,IAAA,OAAO,MAAM;AACX,MAAA,QAAA,GAAW,IAAA;AACX,MAAA,mBAAA,EAAoB;AAEpB,MAAA,IAAI,QAAQ,OAAA,EAAS;AACnB,QAAA,QAAA,CAAS,OAAA,EAAS,MAAA,CAAO,OAAA,CAAQ,OAAO,CAAA;AACxC,QAAA,0BAAA,CAA2B,QAAQ,OAAO,CAAA;AAC1C,QAAA,OAAA,CAAQ,OAAA,GAAU,IAAA;AAAA,MACpB;AAEA,MAAA,IAAI,SAAS,OAAA,EAAS;AACpB,QAAA,QAAA,CAAS,OAAA,EAAS,MAAA,CAAO,QAAA,CAAS,OAAO,CAAA;AACzC,QAAA,0BAAA,CAA2B,SAAS,OAAO,CAAA;AAC3C,QAAA,QAAA,CAAS,OAAA,GAAU,IAAA;AAAA,MACrB;AAAA,IACF,CAAA;AAAA,EACF,CAAA,EAAG;AAAA,IACD,EAAA;AAAA,IACA,gBAAA;AAAA,IACA,UAAA;AAAA,IACA,GAAA;AAAA,IACA,QAAA,CAAS,MAAA;AAAA,IACT,QAAA,CAAS;AAAA,GACV,CAAA;AAED,EAAA,uBACE,IAAA;AAAA,IAAC,gBAAA;AAAA,IAAA;AAAA,MACE,GAAG,UAAA;AAAA,MACJ,WAAA;AAAA,MACA,QAAA;AAAA,MACA,QAAA;AAAA,MACA,KAAK,QAAA,CAAS,GAAA;AAAA,MACd,QAAQ,QAAA,CAAS,MAAA;AAAA,MACjB,wBAAwB,QAAA,CAAS,cAAA;AAAA,MACjC,cAAA;AAAA,MACA,eAAA,EAAiB,mBAAmB,MAAA,KAAW,OAAA;AAAA,MAE/C,QAAA,EAAA;AAAA,wBAAA,GAAA,CAAC,OAAA,EAAA,EAAM,KAAK,QAAA,EAAU,CAAA;AAAA,QACrB;AAAA;AAAA;AAAA,GACH;AAEJ;AAEA,SAAS,2BAA2B,QAAA,EAA2B;AAC7D,EAAA,IAAI;AACF,IAAA,MAAM,MAAA,GAAS,SAAS,OAAA,IAAU;AAClC,IAAA,IAAI,aAAA,CAAc,MAAM,CAAA,EAAG;AACzB,MAAA,KAAK,OAAA,CAAQ,OAAA,CAAQ,MAAM,CAAA,CAAE,MAAM,uBAAuB,CAAA;AAAA,IAC5D;AAAA,EACF,SAAS,KAAA,EAAO;AACd,IAAA,uBAAA,CAAwB,KAAK,CAAA;AAAA,EAC/B;AACF;AAEA,SAAS,cAAc,KAAA,EAA+C;AACpE,EAAA,OACE,OAAO,UAAU,QAAA,IACjB,KAAA,KAAU,QACV,MAAA,IAAU,KAAA,IACV,OAAQ,KAAA,CAA6B,IAAA,KAAS,UAAA;AAElD;AAEA,SAAS,wBAAwB,KAAA,EAAgB;AAC/C,EAAA,IACE,KAAA,YAAiB,SACjB,KAAA,CAAM,OAAA,CAAQ,aAAY,CAAE,QAAA,CAAS,kBAAkB,CAAA,EACvD;AACA,IAAA;AAAA,EACF;AAEA,EAAA,OAAA,CAAQ,IAAA,CAAK,kDAAkD,KAAK,CAAA;AACtE","file":"spark.js","sourcesContent":["/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n} from './components/VisualScenario';\nimport type {\n  SplatEnvironmentProps,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n        });\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(resource: SparkDisposable) {\n  try {\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n"]}
+{"version":3,"sources":["../src/spark.tsx"],"names":[],"mappings":";;;;;;AA+CA,IAAI,sCAAA,GAAyC,KAAA;AA2CtC,SAAS,wBAAA,CAAyB;AAAA,EACvC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,WAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV,QAAA,GAAW,OAAA;AAAA,EACX,OAAA;AAAA,EACA;AACF,CAAA,EAQ+B;AAC7B,EAAA,MAAM,aAAa,mBAAA,CAAoB;AAAA,IACrC,WAAA;AAAA,IACA,QAAA;AAAA,IACA,WAAA;AAAA,IACA,OAAA;AAAA,IACA;AAAA,GACD,CAAA;AACD,EAAA,MAAM,WAAW,mBAAA,CAAoB;AAAA,IACnC,QAAA;AAAA,IACA,aAAa,UAAA,CAAW,WAAA;AAAA,IACxB;AAAA,GACD,CAAA;AACD,EAAA,MAAM,aAAA,GAAgB,OAAA,IAAW,OAAA,CAAQ,QAAA,CAAS,GAAG,CAAA;AACrD,EAAA,MAAM,SAAA,GAAY,OAAA,GAAU,QAAA,CAAS,SAAA,GAAY,UAAA,CAAW,SAAA;AAC5D,EAAA,MAAM,YAAY,sBAAA,CAAuB;AAAA,IACvC,OAAA,EAAS,aAAA;AAAA,IACT,OAAA;AAAA,IACA;AAAA,GACD,CAAA;AAED,EAAA,OAAO,OAAA;AAAA,IACL,OAAO;AAAA,MACL,aAAa,UAAA,CAAW,WAAA;AAAA,MACxB,aAAa,UAAA,CAAW,WAAA;AAAA,MACxB,SAAA;AAAA,MACA,SAAA;AAAA,MACA,KAAA,EAAO;AAAA,QACL,aAAa,UAAA,CAAW,WAAA;AAAA,QACxB,QAAA,EAAU,UAAU,QAAA,GAAW,MAAA;AAAA,QAC/B,GAAA,EAAK,OAAA,GAAU,QAAA,CAAS,GAAA,GAAM,MAAA;AAAA,QAC9B,QAAQ,QAAA,CAAS,MAAA;AAAA,QACjB,GAAG,SAAA,CAAU;AAAA,OACf;AAAA,MACA,OAAA,EAAS;AAAA,KACX,CAAA;AAAA,IACA,CAAC,OAAA,EAAS,SAAA,EAAW,UAAU,SAAA,EAAW,aAAA,EAAe,UAAU,UAAU;AAAA,GAC/E;AACF;AAQO,SAAS,sBAAA,CAAuB;AAAA,EACrC,OAAA,GAAU,IAAA;AAAA,EACV,aAAA;AAAA,EACA,OAAA;AAAA,EACA;AACF,CAAA,GAKI,EAAC,EAAwB;AAC3B,EAAA,MAAM,CAAC,MAAA,EAAQ,SAAS,CAAA,GAAI,QAAA;AAAA,IAC1B,aAAA,KAAkB,UAAU,SAAA,GAAY,MAAA;AAAA,GAC1C;AACA,EAAA,MAAM,CAAC,KAAA,EAAO,QAAQ,CAAA,GAAI,SAAuB,IAAI,CAAA;AAErD,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,SAAA,CAAU,OAAA,GAAU,aAAA,IAAiB,SAAA,GAAY,MAAM,CAAA;AACvD,IAAA,QAAA,CAAS,IAAI,CAAA;AAAA,EACf,CAAA,EAAG,CAAC,OAAA,EAAS,aAAa,CAAC,CAAA;AAE3B,EAAA,MAAM,kBAAA,GAAqB,WAAA;AAAA,IACzB,CAAC,UAAA,KAAiC;AAChC,MAAA,SAAA,CAAU,UAAU,CAAA;AACpB,MAAA,IAAI,eAAe,OAAA,EAAS;AAC1B,QAAA,QAAA,CAAS,IAAI,CAAA;AAAA,MACf;AACA,MAAA,cAAA,GAAiB,UAAU,CAAA;AAAA,IAC7B,CAAA;AAAA,IACA,CAAC,cAAc;AAAA,GACjB;AAEA,EAAA,MAAM,WAAA,GAAc,WAAA;AAAA,IAClB,CAAC,SAAA,KAAqB;AACpB,MAAA,QAAA,CAAS,SAAS,CAAA;AAClB,MAAA,SAAA,CAAU,OAAO,CAAA;AACjB,MAAA,OAAA,GAAU,SAAS,CAAA;AAAA,IACrB,CAAA;AAAA,IACA,CAAC,OAAO;AAAA,GACV;AAEA,EAAA,MAAM,KAAA,GAAQ,YAAY,MAAM;AAC9B,IAAA,SAAA,CAAU,OAAA,GAAU,aAAA,IAAiB,SAAA,GAAY,MAAM,CAAA;AACvD,IAAA,QAAA,CAAS,IAAI,CAAA;AAAA,EACf,CAAA,EAAG,CAAC,OAAA,EAAS,aAAa,CAAC,CAAA;AAE3B,EAAA,OAAO,OAAA;AAAA,IACL,OAAO;AAAA,MACL,MAAA;AAAA,MACA,KAAA;AAAA,MACA,WAAW,MAAA,KAAW,SAAA;AAAA,MACtB,SAAS,MAAA,KAAW,OAAA;AAAA,MACpB,SAAS,MAAA,KAAW,OAAA;AAAA,MACpB,KAAA,EAAO;AAAA,QACL,cAAA,EAAgB,kBAAA;AAAA,QAChB,OAAA,EAAS;AAAA,OACX;AAAA,MACA;AAAA,KACF,CAAA;AAAA,IACA,CAAC,KAAA,EAAO,WAAA,EAAa,kBAAA,EAAoB,OAAO,MAAM;AAAA,GACxD;AACF;AAQO,SAAS,qBAAA,CAAsB;AAAA,EACpC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA,GAAW,OAAA;AAAA,EACX,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,sBAAA;AAAA,EACA,eAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA,GAAM,IAAA;AAAA,EACN,gBAAA,GAAmB,KAAA;AAAA,EACnB,cAAA;AAAA,EACA,MAAA;AAAA,EACA,OAAA;AAAA,EACA,GAAG;AACL,CAAA,EAA+B;AAC7B,EAAA,MAAM,QAAA,GAAW,OAAoB,IAAI,CAAA;AACzC,EAAA,MAAM,QAAA,GAAW,OAAqC,IAAI,CAAA;AAC1D,EAAA,MAAM,OAAA,GAAU,OAAsC,IAAI,CAAA;AAC1D,EAAA,MAAM,eAAA,GAAkB,MAAA,CAAqB,EAAE,CAAA;AAC/C,EAAA,MAAM,iBAAA,GAAoB,OAAO,cAAc,CAAA;AAC/C,EAAA,MAAM,SAAA,GAAY,OAAO,MAAM,CAAA;AAC/B,EAAA,MAAM,UAAA,GAAa,OAAO,OAAO,CAAA;AACjC,EAAA,MAAM,CAAC,MAAA,EAAQ,SAAS,CAAA,GAAI,SAA2B,MAAM,CAAA;AAC7D,EAAA,MAAM,EAAE,EAAA,EAAI,UAAA,EAAW,GAAI,QAAA,EAAS;AACpC,EAAA,MAAM,WAAW,mBAAA,CAAoB;AAAA,IACnC,WAAA;AAAA,IACA,QAAA;AAAA,IACA,QAAA;AAAA,IACA,GAAA;AAAA,IACA,MAAA;AAAA,IACA,cAAA,EAAgB;AAAA,GACjB,CAAA;AAED,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,iBAAA,CAAkB,OAAA,GAAU,cAAA;AAAA,EAC9B,CAAA,EAAG,CAAC,cAAc,CAAC,CAAA;AAEnB,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,SAAA,CAAU,OAAA,GAAU,MAAA;AAAA,EACtB,CAAA,EAAG,CAAC,MAAM,CAAC,CAAA;AAEX,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,UAAA,CAAW,OAAA,GAAU,OAAA;AAAA,EACvB,CAAA,EAAG,CAAC,OAAO,CAAC,CAAA;AAEZ,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,IAAI,QAAA,GAAW,KAAA;AACf,IAAA,kCAAA,EAAmC;AAEnC,IAAA,SAAS,mBAAmB,UAAA,EAA8B;AACxD,MAAA,SAAA,CAAU,UAAU,CAAA;AACpB,MAAA,iBAAA,CAAkB,UAAU,UAAU,CAAA;AAAA,IACxC;AAEA,IAAA,SAAS,mBAAA,GAAsB;AAC7B,MAAA,KAAA,MAAW,IAAA,IAAQ,gBAAgB,OAAA,EAAS;AAC1C,QAAA,IAAA,CAAK,OAAA,GAAU,IAAA;AAAA,MACjB;AACA,MAAA,eAAA,CAAgB,UAAU,EAAC;AAAA,IAC7B;AAEA,IAAA,eAAe,SAAA,GAAY;AACzB,MAAA,IAAI,CAAC,SAAS,GAAA,EAAK;AACjB,QAAA,kBAAA,CAAmB,MAAM,CAAA;AACzB,QAAA;AAAA,MACF;AAEA,MAAA,IAAI,QAAA,CAAS,WAAW,KAAA,EAAO;AAC7B,QAAA,MAAM,yBAAyB,IAAI,KAAA;AAAA,UACjC,CAAA,2DAAA,EAA8D,SAAS,MAAM,CAAA,EAAA;AAAA,SAC/E;AACA,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,UAAA,CAAW,UAAU,sBAAsB,CAAA;AAC3C,QAAA;AAAA,MACF;AAEA,MAAA,kBAAA,CAAmB,SAAS,CAAA;AAE5B,MAAA,IAAI;AACF,QAAA,MAAM,WAAA,GAAc,MAAM,OAAO,mBAAmB,CAAA;AACpD,QAAA,IAAI,QAAA,IAAY,CAAC,QAAA,CAAS,OAAA,EAAS;AAEnC,QAAA,MAAM,KAAA,GAAQ,IAAI,WAAA,CAAY,aAAA,CAAc;AAAA,UAC1C,QAAA,EAAU,EAAA;AAAA,UACV,OAAA,EAAS;AAAA,SACV,CAAA;AACD,QAAA,MAAM,IAAA,GAAO,IAAI,WAAA,CAAY,SAAA,CAAU;AAAA,UACrC,KAAK,QAAA,CAAS,GAAA;AAAA,UACd;AAAA,SACD,CAAA;AACD,QAAA,IAAA,CAAK,IAAA,GAAO,mBAAA;AAEZ,QAAA,QAAA,CAAS,OAAA,CAAQ,IAAI,KAAK,CAAA;AAC1B,QAAA,QAAA,CAAS,OAAA,CAAQ,IAAI,IAAI,CAAA;AACzB,QAAA,QAAA,CAAS,OAAA,GAAU,KAAA;AACnB,QAAA,OAAA,CAAQ,OAAA,GAAU,IAAA;AAElB,QAAA,IAAI,gBAAA,IAAoB,QAAA,CAAS,OAAA,CAAQ,MAAA,EAAQ;AAC/C,UAAA,QAAA,CAAS,OAAA,CAAQ,MAAA,CAAO,QAAA,CAAS,CAAC,MAAA,KAAW;AAC3C,YAAA,IACE,EAAE,MAAA,YAAwB,KAAA,CAAA,IAAA,CAAA,IAC1B,MAAA,KAAY,IAAA,EACZ;AACA,cAAA;AAAA,YACF;AACA,YAAA,MAAM,IAAA,GAAO,MAAA,CAAO,IAAA,CAAK,WAAA,EAAY;AACrC,YAAA,IACE,IAAA,CAAK,QAAA,CAAS,OAAO,CAAA,IACrB,IAAA,CAAK,QAAA,CAAS,QAAQ,CAAA,IACtB,IAAA,CAAK,QAAA,CAAS,OAAO,CAAA,EACrB;AACA,cAAA,MAAA,CAAO,OAAA,GAAU,KAAA;AACjB,cAAA,eAAA,CAAgB,OAAA,CAAQ,KAAK,MAAM,CAAA;AAAA,YACrC;AAAA,UACF,CAAC,CAAA;AAAA,QACH;AAEA,QAAA,MAAM,IAAA,CAAK,WAAA;AACX,QAAA,IAAI,QAAA,EAAU;AACd,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,SAAA,CAAU,UAAU,IAAI,CAAA;AACxB,QAAA,UAAA,EAAW;AAAA,MACb,SAAS,KAAA,EAAO;AACd,QAAA,MAAM,eAAA,GACJ,iBAAiB,KAAA,GAAQ,KAAA,GAAQ,IAAI,KAAA,CAAM,MAAA,CAAO,KAAK,CAAC,CAAA;AAC1D,QAAA,kBAAA,CAAmB,OAAO,CAAA;AAC1B,QAAA,UAAA,CAAW,UAAU,eAAe,CAAA;AAAA,MACtC;AAAA,IACF;AAEA,IAAA,KAAK,SAAA,EAAU;AAEf,IAAA,OAAO,MAAM;AACX,MAAA,QAAA,GAAW,IAAA;AACX,MAAA,mBAAA,EAAoB;AAEpB,MAAA,IAAI,QAAQ,OAAA,EAAS;AACnB,QAAA,QAAA,CAAS,OAAA,EAAS,MAAA,CAAO,OAAA,CAAQ,OAAO,CAAA;AACxC,QAAA,0BAAA,CAA2B,QAAQ,OAAO,CAAA;AAC1C,QAAA,OAAA,CAAQ,OAAA,GAAU,IAAA;AAAA,MACpB;AAEA,MAAA,IAAI,SAAS,OAAA,EAAS;AACpB,QAAA,QAAA,CAAS,OAAA,EAAS,MAAA,CAAO,QAAA,CAAS,OAAO,CAAA;AACzC,QAAA,0BAAA,CAA2B,SAAS,OAAO,CAAA;AAC3C,QAAA,QAAA,CAAS,OAAA,GAAU,IAAA;AAAA,MACrB;AAAA,IACF,CAAA;AAAA,EACF,CAAA,EAAG;AAAA,IACD,EAAA;AAAA,IACA,gBAAA;AAAA,IACA,UAAA;AAAA,IACA,GAAA;AAAA,IACA,QAAA,CAAS,MAAA;AAAA,IACT,QAAA,CAAS;AAAA,GACV,CAAA;AAED,EAAA,uBACE,IAAA;AAAA,IAAC,gBAAA;AAAA,IAAA;AAAA,MACE,GAAG,UAAA;AAAA,MACJ,WAAA;AAAA,MACA,QAAA;AAAA,MACA,QAAA;AAAA,MACA,KAAK,QAAA,CAAS,GAAA;AAAA,MACd,QAAQ,QAAA,CAAS,MAAA;AAAA,MACjB,wBAAwB,QAAA,CAAS,cAAA;AAAA,MACjC,cAAA;AAAA,MACA,eAAA,EAAiB,mBAAmB,MAAA,KAAW,OAAA;AAAA,MAE/C,QAAA,EAAA;AAAA,wBAAA,GAAA,CAAC,OAAA,EAAA,EAAM,KAAK,QAAA,EAAU,CAAA;AAAA,QACrB;AAAA;AAAA;AAAA,GACH;AAEJ;AAEA,SAAS,2BAA2B,QAAA,EAA2B;AAC7D,EAAA,IAAI;AACF,IAAA,qCAAA,CAAsC,QAAQ,CAAA;AAC9C,IAAA,MAAM,MAAA,GAAS,SAAS,OAAA,IAAU;AAClC,IAAA,IAAI,aAAA,CAAc,MAAM,CAAA,EAAG;AACzB,MAAA,KAAK,OAAA,CAAQ,OAAA,CAAQ,MAAM,CAAA,CAAE,MAAM,uBAAuB,CAAA;AAAA,IAC5D;AAAA,EACF,SAAS,KAAA,EAAO;AACd,IAAA,uBAAA,CAAwB,KAAK,CAAA;AAAA,EAC/B;AACF;AAEA,SAAS,cAAc,KAAA,EAA+C;AACpE,EAAA,OACE,OAAO,UAAU,QAAA,IACjB,KAAA,KAAU,QACV,MAAA,IAAU,KAAA,IACV,OAAQ,KAAA,CAA6B,IAAA,KAAS,UAAA;AAElD;AAEA,SAAS,sCAAsC,QAAA,EAA2B;AACxE,EAAA,MAAM,OAAA,GAAU,gBAAgB,QAAQ,CAAA;AACxC,EAAA,KAAA,MAAW,UAAU,OAAA,EAAS;AAC5B,IAAA,IAAI,CAAC,OAAO,QAAA,EAAU;AAEtB,IAAA,KAAA,MAAW,OAAA,IAAW,MAAA,CAAO,MAAA,CAAO,MAAA,CAAO,QAAQ,CAAA,EAAG;AACpD,MAAA,MAAM,SAAS,OAAA,CAAQ,MAAA;AACvB,MAAA,IAAI,CAAC,MAAA,EAAQ;AAEb,MAAA,OAAA,CAAQ,MAAA,GAAS,CAAC,KAAA,KAAmB;AACnC,QAAA,IAAI,CAAC,2BAAA,CAA4B,KAAK,CAAA,EAAG;AACvC,UAAA,MAAA,CAAO,KAAK,CAAA;AAAA,QACd;AAAA,MACF,CAAA;AAAA,IACF;AAAA,EACF;AACF;AAEA,SAAS,gBAAgB,QAAA,EAA8C;AACrE,EAAA,MAAM,aAAA,GAAgB,QAAA;AACtB,EAAA,OAAO;AAAA,IACL,aAAA,CAAc,MAAA;AAAA,IACd,aAAA,CAAc,UAAA;AAAA,IACd,aAAA,CAAc;AAAA,IACd,MAAA,CAAO,CAAC,MAAA,KAAsC,OAAA,CAAQ,MAAM,CAAC,CAAA;AACjE;AAEA,SAAS,wBAAwB,KAAA,EAAgB;AAC/C,EAAA,IACE,KAAA,YAAiB,SACjB,KAAA,CAAM,OAAA,CAAQ,aAAY,CAAE,QAAA,CAAS,kBAAkB,CAAA,EACvD;AACA,IAAA;AAAA,EACF;AAEA,EAAA,OAAA,CAAQ,IAAA,CAAK,kDAAkD,KAAK,CAAA;AACtE;AAEA,SAAS,kCAAA,GAAqC;AAC5C,EAAA,IACE,0CACA,OAAO,MAAA,KAAW,eAClB,OAAO,MAAA,CAAO,qBAAqB,UAAA,EACnC;AACA,IAAA;AAAA,EACF;AAEA,EAAA,sCAAA,GAAyC,IAAA;AACzC,EAAA,MAAA,CAAO,gBAAA,CAAiB,oBAAA,EAAsB,CAAC,KAAA,KAAU;AACvD,IAAA,IAAI,2BAAA,CAA4B,KAAA,CAAM,MAAM,CAAA,EAAG;AAC7C,MAAA,KAAA,CAAM,cAAA,EAAe;AAAA,IACvB;AAAA,EACF,CAAC,CAAA;AACH;AAEA,SAAS,4BAA4B,MAAA,EAAiB;AACpD,EAAA,OACE,kBAAkB,KAAA,IAClB,MAAA,CAAO,QAAQ,WAAA,EAAY,CAAE,SAAS,kBAAkB,CAAA;AAE5D","file":"spark.js","sourcesContent":["/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n        });\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(resource: SparkDisposable) {\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}

package/dist/{types-C5gTvR7b.d.ts → types-oxbxOkAx.d.ts}

@@ -39,7 +39,7 @@ type Robots = [RegisteredRobotMap] extends [never] ? string : Extract<keyof Regi
 type RobotResource<TRobot extends string, TKey extends string> = [
     RegisteredRobotMap
 ] extends [never] ? string : TRobot extends keyof RegisteredRobotMap ? TKey extends keyof RegisteredRobotMap[TRobot] ? RegisteredRobotMap[TRobot][TKey] : string : never;
-type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';
 type RobotResourceObject<TRobot extends string, TKey extends RegisterResourceKey> = string extends RobotResource<TRobot, TKey> ? Record<string, string> : {
     readonly [K in RobotResource<TRobot, TKey>]: K;
 };
@@ -68,6 +68,8 @@ type RobotGeoms<TRobot extends string> = RobotResource<TRobot, 'geoms'>;
 declare const RobotGeoms: RobotResourceCategory<'geoms'>;
 type RobotKeyframes<TRobot extends string> = RobotResource<TRobot, 'keyframes'>;
 declare const RobotKeyframes: RobotResourceCategory<'keyframes'>;
+type RobotCameras<TRobot extends string> = RobotResource<TRobot, 'cameras'>;
+declare const RobotCameras: RobotResourceCategory<'cameras'>;
 type Actuators = Register extends {
     actuators: infer T extends string;
 } ? T : string;
@@ -89,6 +91,9 @@ type Geoms = Register extends {
 type Keyframes = Register extends {
     keyframes: infer T extends string;
 } ? T : string;
+type Cameras = Register extends {
+    cameras: infer T extends string;
+} ? T : string;
 /**
  * A single MuJoCo contact from the WASM module.
  * Accessed via `data.contact.get(i)`.
@@ -131,6 +136,7 @@ interface MujocoModel {
     nflex: number;
     nmesh: number;
     nmat: number;
+    ncam?: number;
     names: Int8Array;
     name_bodyadr: Int32Array;
     name_jntadr: Int32Array;
@@ -140,6 +146,7 @@ interface MujocoModel {
     name_keyadr: Int32Array;
     name_sensoradr: Int32Array;
     name_tendonadr: Int32Array;
+    name_camadr?: Int32Array;
     body_mass: Float64Array;
     body_parentid: Int32Array;
     body_jntnum: Int32Array;
@@ -204,6 +211,10 @@ interface MujocoModel {
     light_cutoff: Float32Array;
     light_exponent: Float32Array;
     light_intensity: Float32Array;
+    cam_bodyid?: Int32Array;
+    cam_pos?: Float64Array;
+    cam_quat?: Float64Array;
+    cam_fovy?: Float64Array;
     ten_wrapadr: Int32Array;
     ten_wrapnum: Int32Array;
     ten_range: Float64Array;
@@ -240,6 +251,9 @@ interface MujocoData {
     qfrc_bias: Float64Array;
     site_xpos: Float64Array;
     site_xmat: Float64Array;
+    cam_xpos?: Float64Array;
+    cam_xmat?: Float64Array;
+    xmat?: Float64Array;
     sensordata: Float64Array;
     ncon: number;
     contact: MujocoContactArray;
@@ -519,6 +533,14 @@ interface SensorInfo {
     dim: number;
     adr: number;
 }
+interface CameraInfo {
+    id: number;
+    name: string;
+    bodyId: number;
+    fov: number | null;
+    position: [number, number, number] | null;
+    quaternion: [number, number, number, number] | null;
+}
 interface ContactInfo {
     geom1: number;
     geom1Name: string;
@@ -696,6 +718,23 @@ interface PairedSplatEnvironmentConfig {
         xmlPath: string;
     };
 }
+declare const SplatEnvironmentReadinessStatus: {
+    readonly Disabled: "disabled";
+    readonly MissingSplat: "missing-splat";
+    readonly MissingCollisionProxy: "missing-collision-proxy";
+    readonly UnsupportedFormat: "unsupported-format";
+    readonly Ready: "ready";
+};
+type SplatEnvironmentReadinessStatus = (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];
+interface SplatEnvironmentReadiness {
+    status: SplatEnvironmentReadinessStatus;
+    ready: boolean;
+    requiresCollisionProxy: boolean;
+    missing: Array<'splat' | 'collisionProxy'>;
+    format?: SplatFormat;
+    renderer?: SplatRendererKind;
+    message: string;
+}
 interface SplatEnvironmentMetadataInput {
     environment?: PairedSplatEnvironmentConfig;
     scenario?: VisualScenarioConfig;
@@ -708,9 +747,23 @@ interface SplatEnvironmentMetadata {
     src?: string;
     format: SplatFormat;
     collisionProxy?: SplatCollisionProxyConfig;
+    readiness: SplatEnvironmentReadiness;
     userData: Record<string, unknown>;
 }
 type SplatSceneInput = PairedSplatEnvironmentConfig | VisualScenarioConfig | undefined | null;
+interface SplatSceneConfigInput {
+    sceneConfig: SceneConfig;
+    scenario?: VisualScenarioConfig;
+    environment?: PairedSplatEnvironmentConfig;
+    enabled?: boolean;
+    renderer?: SplatRendererKind;
+}
+interface SplatSceneConfigState {
+    environment: PairedSplatEnvironmentConfig | undefined;
+    sceneConfig: SceneConfig;
+    enabled: boolean;
+    readiness: SplatEnvironmentReadiness;
+}
 interface VisualScenarioConfig {
     id?: string;
     label?: string;
@@ -826,6 +879,7 @@ interface MujocoSimAPI {
     getSites(): SiteInfo[];
     getActuators(): ActuatorInfo[];
     getSensors(): SensorInfo[];
+    getCameras(): CameraInfo[];
     getModelOption(): ModelOptions;
     setGravity(g: [number, number, number]): void;
     setTimestep(dt: number): void;
@@ -841,6 +895,9 @@ interface MujocoSimAPI {
     getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;
     captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;
     captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;
+    captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;
+    captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;
+    recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;
     project2DTo3D(x: number, y: number, cameraPos: THREE.Vector3, lookAt: THREE.Vector3): {
         point: THREE.Vector3;
         bodyId: number;
@@ -880,6 +937,137 @@ interface FrameCaptureAPI {
     captureBlob: (options?: FrameCaptureOptions) => Promise<FrameCaptureBlobResult>;
     reset: () => void;
 }
+type CameraFrameCaptureVector3 = THREE.Vector3 | readonly [number, number, number];
+type CameraFrameCaptureQuaternion = THREE.Quaternion | readonly [number, number, number, number];
+interface CameraFrameCaptureOptions {
+    /** Existing Three camera to clone before applying pose overrides. */
+    camera?: THREE.Camera;
+    /** Named MuJoCo `<camera>` to render from when available in the loaded model. */
+    cameraName?: Cameras;
+    /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */
+    siteName?: Sites;
+    /** Named MuJoCo body to use as the rendered camera pose. */
+    bodyName?: Bodies;
+    position?: CameraFrameCaptureVector3;
+    lookAt?: CameraFrameCaptureVector3;
+    quaternion?: CameraFrameCaptureQuaternion;
+    up?: CameraFrameCaptureVector3;
+    width?: number;
+    height?: number;
+    type?: string;
+    quality?: number;
+    fov?: number;
+    near?: number;
+    far?: number;
+    /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */
+    source?: CameraFrameCaptureSource;
+}
+type CameraFrameCaptureSource = {
+    kind: 'mujoco-camera';
+    cameraName: Cameras;
+} | {
+    kind: 'mujoco-site';
+    siteName: Sites;
+} | {
+    kind: 'mujoco-body';
+    bodyName: Bodies;
+} | {
+    kind: 'custom-camera';
+} | {
+    kind: 'explicit-pose';
+} | {
+    kind: 'fallback-camera';
+};
+interface CameraFrameCaptureResult {
+    canvas: HTMLCanvasElement;
+    camera: THREE.Camera;
+    dataUrl: string;
+    type: string;
+    width: number;
+    height: number;
+    source: CameraFrameCaptureSource;
+}
+interface CameraFrameCaptureBlobResult {
+    canvas: HTMLCanvasElement;
+    camera: THREE.Camera;
+    blob: Blob;
+    type: string;
+    width: number;
+    height: number;
+    source: CameraFrameCaptureSource;
+}
+interface CameraFrameCaptureAPI {
+    status: FrameCaptureStatus;
+    error: Error | null;
+    isCapturing: boolean;
+    capture: (options?: CameraFrameCaptureOptions) => Promise<CameraFrameCaptureResult>;
+    captureBlob: (options?: CameraFrameCaptureOptions) => Promise<CameraFrameCaptureBlobResult>;
+    reset: () => void;
+}
+interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {
+    key: string;
+}
+interface CameraFrameSequenceFrame {
+    frameIndex: number;
+    time: number;
+    cameras: Record<string, CameraFrameCaptureResult>;
+}
+interface CameraFrameSequenceCameraSummary {
+    key: string;
+    width: number;
+    height: number;
+    source: CameraFrameCaptureSource;
+    frameCount: number;
+    firstFrameIndex: number | null;
+    lastFrameIndex: number | null;
+    firstTimestamp: number | null;
+    lastTimestamp: number | null;
+}
+interface CameraFrameSequenceSampleInput extends PhysicsStepInput {
+    frameIndex: number;
+    time: number;
+}
+interface CameraFrameSequenceStepInput extends PhysicsStepInput {
+    frameIndex: number;
+    stepIndex: number;
+    time: number;
+}
+interface CameraFrameSequenceOptions {
+    cameras: readonly CameraFrameSequenceCamera[];
+    frames: number;
+    /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */
+    stepsPerFrame?: number;
+    reset?: boolean;
+    captureInitialFrame?: boolean;
+    retainFrames?: boolean;
+    /**
+     * Require each recorded stream to resolve from exactly one mounted MuJoCo
+     * camera/site/body selector. Defaults to true because sequence recording is
+     * intended for dataset/policy camera streams.
+     */
+    requireMountedSources?: boolean;
+    signal?: AbortSignal;
+    /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */
+    onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;
+    /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */
+    onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;
+    /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */
+    onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;
+    onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;
+}
+interface CameraFrameSequenceResult {
+    frames: CameraFrameSequenceFrame[];
+    cameraKeys: string[];
+    cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;
+    frameCount: number;
+}
+interface CameraFrameSequenceRecorderAPI {
+    status: FrameCaptureStatus;
+    error: Error | null;
+    isRecording: boolean;
+    record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;
+    reset: () => void;
+}
 type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
     config: SceneConfig;
     /** R3F content rendered while the MuJoCo WASM module is still loading. */
@@ -938,4 +1126,4 @@ interface JointStateResult {
     velocity: React__default.RefObject<number | Float64Array>;
 }
 
-export { type PolicyConfig as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type ActuatorInfo as E, type Sites as F, type GeomInfo as G, type SitePositionResult as H, type IkConfig as I, type Sensors as J, type SensorHandle as K, type SensorInfo as L, type MujocoContextValue as M, type Joints as N, type ObservationConfig as O, type PhysicsStepCallback as P, type JointStateResult as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type Bodies as U, type VisualScenarioEffectsProps as V, type BodyStateResult as W, type Actuators as X, type CtrlHandle as Y, type ContactInfo as Z, type KeyboardTeleopConfig as _, type MujocoCanvasProps as a, type PolicyVector as a0, type ObservationHandle as a1, type TrajectoryInput as a2, type TrajectoryStateChangeInput as a3, type PlaybackState as a4, type TrajectoryFrame as a5, type FrameCaptureOptions as a6, type FrameCaptureResult as a7, type FrameCaptureBlobResult as a8, type FrameCaptureAPI as a9, type ResetCallbackInput as aA, type ResourceSelector as aB, RobotActuators as aC, RobotBodies as aD, RobotGeoms as aE, RobotJoints as aF, RobotKeyframes as aG, type RobotResource as aH, RobotResources as aI, RobotSensors as aJ, RobotSites as aK, type Robots as aL, type ScenarioCameraConfig as aM, type ScenarioMaterialConfig as aN, type SceneMarker as aO, type SceneObject as aP, type SensorResult as aQ, type SiteInfo as aR, type SplatAssetConfig as aS, type SplatScenarioConfig as aT, type StateSnapshot as aU, type TrajectoryData as aV, type TrajectoryFrameCallbackInput as aW, type VisualScenarioMaterialFilterInput as aX, type XmlPatch as aY, getContact as aZ, registerRobotResources as a_, type BodyInfo as aa, type ControlJointInfo as ab, type FrameCaptureStatus as ac, type FrameCaptureTarget as ad, type FrameCaptureTargetRef as ae, type Geoms as af, type IKSolveFn as ag, type IkGizmoDragInput as ah, type IkSolveInput as ai, type JointInfo as aj, type KeyBinding as ak, type Keyframes as al, type ModelOptions as am, type MujocoContact as an, type MujocoContactArray as ao, type MujocoFrameCaptureOptions as ap, type ObservationLayoutItem as aq, type ObservationOutput as ar, type PhysicsConfig as as, type PhysicsStepInput as at, type PolicyActionInput as au, type PolicyInferenceInput as av, type PolicyObservationInput as aw, type RayHit as ax, type Register as ay, type RegisteredRobotMap as az, type MujocoSimAPI as b, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatCollisionPrimitive as t, type ScenarioLightingPreset as u, type SplatEnvironmentMetadataInput as v, type SplatEnvironmentMetadata as w, type SplatSceneInput as x, type DebugProps as y, type ContactListenerProps as z };
+export { type Actuators as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type SplatSceneConfigState as E, type SplatSceneInput as F, type DebugProps as G, type GeomInfo as H, type IkConfig as I, type ContactListenerProps as J, type ActuatorInfo as K, type Sites as L, type MujocoContextValue as M, type SitePositionResult as N, type ObservationConfig as O, type PhysicsStepCallback as P, type Sensors as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type SensorHandle as U, type VisualScenarioEffectsProps as V, type SensorInfo as W, type Joints as X, type JointStateResult as Y, type Bodies as Z, type BodyStateResult as _, type MujocoCanvasProps as a, RobotJoints as a$, type CtrlHandle as a0, type ContactInfo as a1, type KeyboardTeleopConfig as a2, type PolicyConfig as a3, type PolicyVector as a4, type ObservationHandle as a5, type TrajectoryInput as a6, type TrajectoryStateChangeInput as a7, type PlaybackState as a8, type TrajectoryFrame as a9, type Geoms as aA, type IKSolveFn as aB, type IkGizmoDragInput as aC, type IkSolveInput as aD, type JointInfo as aE, type KeyBinding as aF, type Keyframes as aG, type ModelOptions as aH, type MujocoContact as aI, type MujocoContactArray as aJ, type MujocoFrameCaptureOptions as aK, type ObservationLayoutItem as aL, type ObservationOutput as aM, type PhysicsConfig as aN, type PhysicsStepInput as aO, type PolicyActionInput as aP, type PolicyInferenceInput as aQ, type PolicyObservationInput as aR, type RayHit as aS, type Register as aT, type RegisteredRobotMap as aU, type ResetCallbackInput as aV, type ResourceSelector as aW, RobotActuators as aX, RobotBodies as aY, RobotCameras as aZ, RobotGeoms as a_, type FrameCaptureOptions as aa, type FrameCaptureResult as ab, type FrameCaptureBlobResult as ac, type FrameCaptureAPI as ad, type CameraFrameCaptureOptions as ae, type CameraFrameCaptureAPI as af, type CameraFrameSequenceRecorderAPI as ag, type Cameras as ah, type CameraFrameSequenceCamera as ai, type CameraFrameCaptureSource as aj, type CameraFrameSequenceOptions as ak, type CameraFrameSequenceResult as al, type CameraFrameCaptureResult as am, type CameraFrameCaptureBlobResult as an, type BodyInfo as ao, type CameraFrameCaptureQuaternion as ap, type CameraFrameCaptureVector3 as aq, type CameraFrameSequenceCameraSummary as ar, type CameraFrameSequenceFrame as as, type CameraFrameSequenceSampleInput as at, type CameraFrameSequenceStepInput as au, type CameraInfo as av, type ControlJointInfo as aw, type FrameCaptureStatus as ax, type FrameCaptureTarget as ay, type FrameCaptureTargetRef as az, type MujocoSimAPI as b, RobotKeyframes as b0, type RobotResource as b1, RobotResources as b2, RobotSensors as b3, RobotSites as b4, type Robots as b5, type ScenarioCameraConfig as b6, type ScenarioMaterialConfig as b7, type SceneMarker as b8, type SceneObject as b9, type SensorResult as ba, type SiteInfo as bb, type SplatAssetConfig as bc, type SplatScenarioConfig as bd, type StateSnapshot as be, type TrajectoryData as bf, type TrajectoryFrameCallbackInput as bg, type VisualScenarioMaterialFilterInput as bh, type XmlPatch as bi, getContact as bj, registerRobotResources as bk, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatEnvironmentReadiness as t, type SplatCollisionPrimitive as u, SplatEnvironmentReadinessStatus as v, type ScenarioLightingPreset as w, type SplatEnvironmentMetadataInput as x, type SplatEnvironmentMetadata as y, type SplatSceneConfigInput as z };

package/dist/vite.d.ts

@@ -32,7 +32,7 @@ interface MujocoRegisterCodegenResult {
     files: string[];
     counts: Record<RegisterKey, number>;
 }
-type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';
 type ModelInput = string | readonly string[] | Record<string, string>;
 declare function mujocoReact(options: MujocoReactPluginOptions): {
     name: string;

package/dist/vite.js

@@ -2,7 +2,7 @@ import { mkdir, writeFile, readFile } from 'fs/promises';
 import path from 'path';
 
 // src/vite.ts
-var REGISTER_KEYS = ["actuators", "sensors", "bodies", "joints", "sites", "geoms", "keyframes"];
+var REGISTER_KEYS = ["actuators", "sensors", "bodies", "joints", "sites", "geoms", "keyframes", "cameras"];
 var MODEL_EXTENSIONS = /* @__PURE__ */ new Set([".xml", ".mjcf", ".urdf"]);
 function createEmptyNames() {
   return {
@@ -12,7 +12,8 @@ function createEmptyNames() {
     joints: /* @__PURE__ */ new Set(),
     sites: /* @__PURE__ */ new Set(),
     geoms: /* @__PURE__ */ new Set(),
-    keyframes: /* @__PURE__ */ new Set()
+    keyframes: /* @__PURE__ */ new Set(),
+    cameras: /* @__PURE__ */ new Set()
   };
 }
 function mujocoReact(options) {
@@ -99,6 +100,7 @@ async function scanModel(filePath, root, seen, names) {
   collectSimpleTagNames(xml, "joint", names.joints);
   collectSimpleTagNames(xml, "site", names.sites);
   collectSimpleTagNames(xml, "geom", names.geoms);
+  collectSimpleTagNames(xml, "camera", names.cameras);
   collectSimpleTagNames(xml, "key", names.keyframes);
   collectSectionNames(xml, "actuator", names.actuators);
   collectSectionNames(xml, "sensor", names.sensors);
@@ -217,7 +219,8 @@ function renderNamespaceAliases(models) {
     joints: "RobotJoints",
     sites: "RobotSites",
     geoms: "RobotGeoms",
-    keyframes: "RobotKeyframes"
+    keyframes: "RobotKeyframes",
+    cameras: "RobotCameras"
   };
   const blocks = REGISTER_KEYS.map((key) => {
     const aliases = models.filter((model) => isIdentifier(model.id)).map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);