mujoco-react 9.2.0 → 9.3.0

package/README.md

@@ -165,11 +165,24 @@ visual scenarios as data, pass the scenario directly; the component resolves the
 splat asset and paired MJCF collision proxy metadata for you.
 
 ```tsx
-import { SplatEnvironment, withSplatEnvironment } from "mujoco-react";
+import { MujocoCanvas, SplatEnvironment, useSplatSceneConfig } from "mujoco-react";
 
-<SplatEnvironment scenario={scenario} renderer="custom" />;
+const splat = useSplatSceneConfig({ sceneConfig, scenario });
+
+<MujocoCanvas config={splat.sceneConfig}>
+  {splat.environment ? (
+    <SplatEnvironment environment={splat.environment} renderer="custom">
+      <MySplatRenderer src={splat.environment.splat.src} />
+    </SplatEnvironment>
+  ) : null}
+</MujocoCanvas>;
 ```
 
+Use `splat.readiness` or `getSplatEnvironmentReadiness(scenario)` to gate
+authoring and import flows. The status distinguishes disabled scenarios,
+missing splat assets, missing MJCF collision proxies, unsupported Spark formats,
+and ready paired environments.
+
 For MuJoCo + 3DGS composition, derive the collision environment from the same
 splat metadata and pass the resulting config to `<MujocoCanvas>`:
 
@@ -192,16 +205,18 @@ npm install @sparkjsdev/spark
 ```tsx
 import {
   SparkSplatEnvironment,
-  useSparkSplatLifecycle,
+  useSparkSplatEnvironment,
 } from "mujoco-react/spark";
 
 function Scene() {
-  const splat = useSparkSplatLifecycle();
+  const splat = useSparkSplatEnvironment({ sceneConfig, scenario });
 
   return (
-    <MujocoCanvas config={sceneConfig} gl={{ preserveDrawingBuffer: true }}>
-      <SparkSplatEnvironment scenario={scenario} hideGroundMeshes {...splat.props} />
-      <StatusBadge status={splat.status} error={splat.error} />
+    <MujocoCanvas config={splat.sceneConfig} gl={{ preserveDrawingBuffer: true }}>
+      {splat.environment ? (
+        <SparkSplatEnvironment hideGroundMeshes {...splat.props} />
+      ) : null}
+      <StatusBadge status={splat.lifecycle.status} error={splat.lifecycle.error} />
     </MujocoCanvas>
   );
 }
@@ -1009,11 +1024,82 @@ Use `useFrameCapture()` or the standalone `captureFrame()` helpers when you own
 the canvas or want to capture a custom container.
 
 Use `captureCameraFrame()` / `captureCameraFrameBlob()` when dataset generation
-needs a fixed offscreen camera pose or resolution without moving the user's
-interactive viewport.
+needs an offscreen camera render at a stable resolution without moving the
+user's interactive viewport. Pass `cameraName`, `siteName`, or `bodyName` to
+record true MuJoCo-mounted camera frames; the returned image includes
+`source.kind` so dataset pipelines can reject fallback or synthetic fixed poses.
 
 Use `recordCameraSequence()` / `useCameraSequenceRecorder()` to step policy
-rollouts and capture synchronized frames from one or more fixed camera configs.
+rollouts and capture synchronized per-camera frames from one or more MuJoCo
+camera configs. Sequence recording requires mounted MuJoCo camera, site, or
+body selectors by default; use still capture APIs for synthetic debug poses.
+
+For LeRobot-style datasets, prefer the named-camera wrapper. It resolves task
+camera keys to MuJoCo cameras/sites/bodies, records the sequence, and returns
+the plan and readiness summary alongside frame provenance:
+
+```tsx
+const sequence = await recordMountedCameraFrameSequence(api, {
+  cameraKeys: ["head", "left_wrist", "right_wrist"],
+  aliases: {
+    head: [{ siteName: "head_camera_rgb_optical_frame" }],
+    left_wrist: [{ siteName: "left_wrist_camera_optical_frame" }],
+    right_wrist: [{ siteName: "right_wrist_camera_optical_frame" }],
+  },
+  defaults: {
+    width: 640,
+    height: 480,
+    type: "image/png",
+    fov: 45,
+    near: 0.01,
+    far: 100,
+  },
+  frames: 16,
+  stepsPerFrame: 1,
+  retainFrames: false,
+  requireMountedSources: true,
+  onFrame: ({ frameIndex, cameras }) => {
+    queueLeRobotImages(frameIndex, cameras);
+  },
+});
+
+sequence.readiness.ready; // true when every requested stream resolved
+sequence.plan.missingKeys; // unresolved task cameras, if requireAll is false
+sequence.cameraSummaries.head.source; // mounted source provenance
+```
+
+`recordMountedCameraFrameSequence()` requires all requested `cameraKeys` by
+default so dataset recording cannot silently omit a camera stream. Set
+`requireAll: false` only for exploratory tooling that can tolerate partial
+camera coverage.
+
+Inside `<MujocoCanvas>` children, `useMountedCameraSequenceRecorder()` exposes
+the same planning and recording surface with React status/error state.
+
+Use `resolveMountedCameraFrameSource()` when dataset feature names need to map
+to named MuJoCo cameras, sites, or bodies before recording. The helper accepts
+the model resource lists plus app-level aliases and returns both the capture
+selector and the mounted-source provenance that should be stored beside the
+dataset:
+
+```tsx
+const resolved = resolveMountedCameraFrameSource("head", {
+  cameras: api.getCameras(),
+  sites: api.getSites(),
+  bodies: api.getBodies(),
+  aliases: {
+    head: [{ siteName: "head_camera_rgb_optical_frame" }],
+  },
+});
+
+if (!resolved) throw new Error("head does not resolve to a MuJoCo source");
+
+await api.recordCameraSequence({
+  frames: 16,
+  requireMountedSources: true,
+  cameras: [{ key: "head", width: 640, height: 480, ...resolved.selector }],
+});
+```
 
 ### `useCtrlNoise(config)`
 

package/dist/{chunk-33CV6HSV.js → chunk-T3GVZJ4F.js}

@@ -3,7 +3,88 @@ import { useEffect, useMemo } from 'react';
 import * as THREE from 'three';
 import { jsxs, Fragment, jsx } from 'react/jsx-runtime';
 
-// src/components/VisualScenario.tsx
+// src/types.ts
+var runtimeRobotResources = {};
+var REGISTER_RESOURCE_KEYS = ["actuators", "sensors", "bodies", "joints", "sites", "geoms", "keyframes", "cameras"];
+function createEmptyRuntimeResources() {
+  return {
+    actuators: {},
+    sensors: {},
+    bodies: {},
+    joints: {},
+    sites: {},
+    geoms: {},
+    keyframes: {},
+    cameras: {}
+  };
+}
+function registerRobotResources(resources) {
+  for (const [robot, robotResources] of Object.entries(resources)) {
+    const existing = runtimeRobotResources[robot] ?? createEmptyRuntimeResources();
+    for (const key of REGISTER_RESOURCE_KEYS) {
+      existing[key] = { ...existing[key], ...robotResources[key] ?? {} };
+    }
+    runtimeRobotResources[robot] = existing;
+  }
+}
+function createResourceCategory(key) {
+  return new Proxy({}, {
+    get(_target, robot) {
+      if (typeof robot !== "string") return void 0;
+      return runtimeRobotResources[robot]?.[key] ?? {};
+    },
+    ownKeys() {
+      return Reflect.ownKeys(runtimeRobotResources);
+    },
+    getOwnPropertyDescriptor(_target, robot) {
+      if (typeof robot !== "string" || !(robot in runtimeRobotResources)) return void 0;
+      return { enumerable: true, configurable: true };
+    }
+  });
+}
+var RobotResources = new Proxy(runtimeRobotResources, {
+  get(target, robot) {
+    if (typeof robot !== "string") return void 0;
+    return target[robot] ?? createEmptyRuntimeResources();
+  },
+  ownKeys(target) {
+    return Reflect.ownKeys(target);
+  },
+  getOwnPropertyDescriptor(target, robot) {
+    if (typeof robot !== "string" || !(robot in target)) return void 0;
+    return { enumerable: true, configurable: true };
+  }
+});
+var RobotActuators = createResourceCategory("actuators");
+var RobotSensors = createResourceCategory("sensors");
+var RobotBodies = createResourceCategory("bodies");
+var RobotJoints = createResourceCategory("joints");
+var RobotSites = createResourceCategory("sites");
+var RobotGeoms = createResourceCategory("geoms");
+var RobotKeyframes = createResourceCategory("keyframes");
+var RobotCameras = createResourceCategory("cameras");
+function getContact(contacts, i) {
+  try {
+    return contacts.get(i);
+  } catch {
+    return void 0;
+  }
+}
+function withContacts(data, read) {
+  const contacts = data.contact;
+  try {
+    return read(contacts);
+  } finally {
+    contacts.delete?.();
+  }
+}
+var SplatEnvironmentReadinessStatus = {
+  Disabled: "disabled",
+  MissingSplat: "missing-splat",
+  MissingCollisionProxy: "missing-collision-proxy",
+  UnsupportedFormat: "unsupported-format",
+  Ready: "ready"
+};
 var DEFAULT_BACKGROUND = "#181a1f";
 function ScenarioLighting({
   preset = "studio",
@@ -205,21 +286,151 @@ function useSplatEnvironment({
   const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;
   const resolvedFormat = format ?? scenarioEnvironment?.splat.format ?? scenario?.splat?.format ?? "spz";
   const resolvedCollisionProxy = collisionProxy ?? scenarioEnvironment?.collisionProxy ?? scenario?.splat?.collisionProxy ?? void 0;
+  const readiness = useMemo(
+    () => getSplatEnvironmentReadiness({
+      environment: scenarioEnvironment,
+      scenario,
+      renderer,
+      src: resolvedSrc,
+      format: resolvedFormat,
+      collisionProxy: resolvedCollisionProxy
+    }),
+    [
+      collisionProxy,
+      renderer,
+      resolvedCollisionProxy,
+      resolvedFormat,
+      resolvedSrc,
+      scenario,
+      scenarioEnvironment
+    ]
+  );
   return useMemo(
     () => ({
       src: resolvedSrc,
       format: resolvedFormat,
       collisionProxy: resolvedCollisionProxy,
+      readiness,
       userData: createSplatEnvironmentUserData({
         environment: scenarioEnvironment,
         src: resolvedSrc,
         format: resolvedFormat,
-        collisionProxy: resolvedCollisionProxy
+        collisionProxy: resolvedCollisionProxy,
+        readiness
       })
     }),
-    [scenarioEnvironment, resolvedSrc, resolvedFormat, resolvedCollisionProxy]
+    [
+      scenarioEnvironment,
+      resolvedSrc,
+      resolvedFormat,
+      resolvedCollisionProxy,
+      readiness
+    ]
+  );
+}
+function useSplatSceneConfig({
+  sceneConfig,
+  scenario,
+  environment,
+  enabled = true,
+  renderer
+}) {
+  const resolvedEnvironment = useMemo(
+    () => enabled ? environment ?? (scenario ? createPairedSplatEnvironment(scenario, { renderer }) : void 0) : void 0,
+    [enabled, environment, renderer, scenario]
+  );
+  const readiness = useMemo(
+    () => getSplatEnvironmentReadiness({
+      environment: resolvedEnvironment,
+      scenario,
+      renderer,
+      enabled
+    }),
+    [enabled, renderer, resolvedEnvironment, scenario]
+  );
+  const resolvedSceneConfig = useMemo(
+    () => resolvedEnvironment ? withSplatEnvironment(sceneConfig, resolvedEnvironment) : sceneConfig,
+    [resolvedEnvironment, sceneConfig]
+  );
+  return useMemo(
+    () => ({
+      environment: resolvedEnvironment,
+      sceneConfig: resolvedSceneConfig,
+      enabled: enabled && readiness.status !== SplatEnvironmentReadinessStatus.Disabled,
+      readiness
+    }),
+    [enabled, readiness, resolvedEnvironment, resolvedSceneConfig]
   );
 }
+function getSplatEnvironmentReadiness({
+  environment,
+  scenario,
+  renderer,
+  src,
+  format,
+  collisionProxy,
+  enabled = true
+}) {
+  const splat = scenario?.splat;
+  const resolvedSrc = src ?? environment?.splat.src ?? splat?.src;
+  const resolvedFormat = format ?? environment?.splat.format ?? splat?.format ?? "spz";
+  const resolvedRenderer = renderer ?? environment?.splat.renderer;
+  const resolvedCollisionProxy = collisionProxy ?? environment?.collisionProxy ?? splat?.collisionProxy ?? void 0;
+  const requiresCollisionProxy = splat?.requiresCollisionProxy ?? true;
+  if (!enabled || splat && splat.enabled === false && !environment) {
+    return {
+      status: SplatEnvironmentReadinessStatus.Disabled,
+      ready: false,
+      requiresCollisionProxy,
+      missing: [],
+      format: resolvedFormat,
+      renderer: resolvedRenderer,
+      message: "Splat environment is disabled."
+    };
+  }
+  if (!resolvedSrc) {
+    return {
+      status: SplatEnvironmentReadinessStatus.MissingSplat,
+      ready: false,
+      requiresCollisionProxy,
+      missing: ["splat"],
+      format: resolvedFormat,
+      renderer: resolvedRenderer,
+      message: "Splat environment is missing a visual asset source."
+    };
+  }
+  if (resolvedRenderer === "spark" && resolvedFormat !== "spz") {
+    return {
+      status: SplatEnvironmentReadinessStatus.UnsupportedFormat,
+      ready: false,
+      requiresCollisionProxy,
+      missing: [],
+      format: resolvedFormat,
+      renderer: resolvedRenderer,
+      message: `Spark splat rendering requires .spz assets; received ${resolvedFormat}.`
+    };
+  }
+  if (requiresCollisionProxy && !resolvedCollisionProxy?.xmlPath) {
+    return {
+      status: SplatEnvironmentReadinessStatus.MissingCollisionProxy,
+      ready: false,
+      requiresCollisionProxy,
+      missing: ["collisionProxy"],
+      format: resolvedFormat,
+      renderer: resolvedRenderer,
+      message: "Splat environment is missing paired MJCF collision proxy XML."
+    };
+  }
+  return {
+    status: SplatEnvironmentReadinessStatus.Ready,
+    ready: true,
+    requiresCollisionProxy,
+    missing: [],
+    format: resolvedFormat,
+    renderer: resolvedRenderer,
+    message: requiresCollisionProxy ? "Splat environment has visual asset and collision proxy metadata." : "Splat environment has a visual asset and does not require collision proxy metadata."
+  };
+}
 function createPairedSplatEnvironment(scenario, options = {}) {
   const splat = scenario.splat;
   const collisionProxy = splat?.collisionProxy;
@@ -277,7 +488,8 @@ function createSplatEnvironmentUserData({
   environment,
   src,
   format = "spz",
-  collisionProxy
+  collisionProxy,
+  readiness
 }) {
   return {
     role: "splat-environment",
@@ -288,7 +500,9 @@ function createSplatEnvironmentUserData({
     splatRenderer: environment?.splat.renderer,
     collisionProxyStatus: collisionProxy?.status ?? "missing",
     collisionProxyXmlPath: collisionProxy?.xmlPath,
-    collisionProxyPrimitives: collisionProxy?.primitives ?? []
+    collisionProxyPrimitives: collisionProxy?.primitives ?? [],
+    readinessStatus: readiness?.status,
+    readinessMessage: readiness?.message
   };
 }
 function createSparkSplatViewerUrl({
@@ -395,6 +609,6 @@ function clamp01(value) {
  * SPDX-License-Identifier: Apache-2.0
  */
 
-export { ScenarioLighting, SplatEnvironment, VisualScenarioEffects, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, getScenarioBackground, getScenarioCameraPosition, useSplatEnvironment, useVisualScenarioEffects, withSplatEnvironment };
-//# sourceMappingURL=chunk-33CV6HSV.js.map
-//# sourceMappingURL=chunk-33CV6HSV.js.map
+export { RobotActuators, RobotBodies, RobotCameras, RobotGeoms, RobotJoints, RobotKeyframes, RobotResources, RobotSensors, RobotSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, registerRobotResources, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, withContacts, withSplatEnvironment };
+//# sourceMappingURL=chunk-T3GVZJ4F.js.map
+//# sourceMappingURL=chunk-T3GVZJ4F.js.map

package/dist/chunk-T3GVZJ4F.js.map

@@ -0,0 +1 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\n\n// ---- Register (type-safe named resources) ----\n\n/**\n * Module augmentation interface for type-safe resource names.\n *\n * Declare your model's resource names via module augmentation:\n * ```ts\n * declare module 'mujoco-react' {\n *   interface Register {\n *     robots: {\n *       panda: {\n *         actuators: 'joint1' | 'joint2' | 'gripper';\n *         sensors: 'force_sensor' | 'torque_sensor';\n *         bodies: 'link0' | 'link1' | 'hand';\n *       };\n *     };\n *     actuators: 'joint1' | 'joint2' | 'gripper';\n *     sensors: 'force_sensor' | 'torque_sensor';\n *     bodies: 'link0' | 'link1' | 'hand';\n *   }\n * }\n * ```\n *\n * When no augmentation is declared, all names fall back to `string`.\n */\nexport interface Register {}\n\nexport type RegisteredRobotMap = Register extends { robots: infer T extends Record<string, Record<string, string>> }\n  ? 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T : string;\nexport type Sensors = Register extends { sensors: infer T extends string } ? T : string;\nexport type Bodies = Register extends { bodies: infer T extends string } ? T : string;\nexport type Joints = Register extends { joints: infer T extends string } ? T : string;\nexport type Sites = Register extends { sites: infer T extends string } ? T : string;\nexport type Geoms = Register extends { geoms: infer T extends string } ? T : string;\nexport type Keyframes = Register extends { keyframes: infer T extends string } ? T : string;\nexport type Cameras = Register extends { cameras: infer T extends string } ? 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T): T {\n  const contacts = data.contact;\n  try {\n    return read(contacts);\n  } finally {\n    contacts.delete?.();\n  }\n}\n\n/**\n * Minimal interface for MuJoCo Model to avoid 'any'.\n */\nexport interface MujocoModel {\n  // Counts\n  nbody: number;\n  ngeom: number;\n  nsite: number;\n  nu: number;\n  njnt: number;\n  nq: number;\n  nv: number;\n  nkey: number;\n  nsensor: number;\n  nsensordata: number;\n  nlight: number;\n  ntendon: number;\n  nflex: number;\n  nmesh: number;\n  nmat: number;\n  ncam?: number;\n\n  // Name tables\n  names: Int8Array;\n  name_bodyadr: Int32Array;\n  name_jntadr: Int32Array;\n  name_geomadr: Int32Array;\n  name_siteadr: Int32Array;\n  name_actuatoradr: Int32Array;\n  name_keyadr: Int32Array;\n  name_sensoradr: Int32Array;\n  name_tendonadr: Int32Array;\n  name_camadr?: Int32Array;\n\n  // Body\n  body_mass: Float64Array;\n  body_parentid: Int32Array;\n  body_jntnum: Int32Array;\n  body_jntadr: Int32Array;\n  body_pos: Float64Array;\n  body_quat: Float64Array;\n  body_geomnum: Int32Array;\n  body_geomadr: Int32Array;\n  body_inertia: Float64Array;\n\n  // Default configuration\n  qpos0: Float64Array;\n\n  // Joint\n  jnt_qposadr: Int32Array;\n  jnt_dofadr: Int32Array;\n  jnt_type: Int32Array;\n  jnt_range: Float64Array;\n  jnt_bodyid: Int32Array;\n  jnt_pos: Float64Array;\n  jnt_axis: Float64Array;\n  jnt_limited: Uint8Array;\n\n  // Geom\n  geom_group: Int32Array;\n  geom_type: Int32Array;\n  geom_size: Float64Array;\n  geom_pos: Float64Array;\n  geom_quat: Float64Array;\n  geom_matid: Int32Array;\n  geom_rgba: Float32Array;\n  geom_dataid: Int32Array;\n  geom_bodyid: Int32Array;\n  geom_contype: Int32Array;\n  geom_conaffinity: Int32Array;\n  geom_friction: Float64Array;\n\n  // Material\n  mat_rgba: Float32Array;\n\n  // Mesh\n  mesh_vertadr: Int32Array;\n  mesh_vertnum: Int32Array;\n  mesh_faceadr: Int32Array;\n  mesh_facenum: Int32Array;\n  mesh_vert: Float32Array;\n  mesh_face: Int32Array;\n  mesh_normal: Float32Array;\n\n  // Site\n  site_bodyid: Int32Array;\n\n  // Actuator\n  actuator_trnid: Int32Array;\n  actuator_ctrlrange: Float64Array;\n  actuator_trntype: Int32Array;\n  actuator_gainprm: Float64Array;\n  actuator_biasprm: Float64Array;\n\n  // Sensor\n  sensor_type: Int32Array;\n  sensor_dim: Int32Array;\n  sensor_adr: Int32Array;\n  sensor_objtype: Int32Array;\n  sensor_objid: Int32Array;\n\n  // Keyframe\n  key_qpos: Float64Array;\n  key_ctrl: Float64Array;\n  key_time: Float64Array;\n  key_qvel: Float64Array;\n\n  // Light\n  light_pos: Float64Array;\n  light_dir: Float64Array;\n  light_diffuse: Float32Array;\n  light_specular: Float32Array;\n  light_type: Int32Array;\n  light_active: Uint8Array;\n  light_castshadow: Uint8Array;\n  light_attenuation: Float32Array;\n  light_cutoff: Float32Array;\n  light_exponent: Float32Array;\n  light_intensity: Float32Array;\n\n  // Camera\n  cam_bodyid?: Int32Array;\n  cam_pos?: Float64Array;\n  cam_quat?: Float64Array;\n  cam_fovy?: Float64Array;\n\n  // Tendon\n  ten_wrapadr: Int32Array;\n  ten_wrapnum: Int32Array;\n  ten_range: Float64Array;\n  ten_rgba: Float32Array;\n  ten_width: Float64Array;\n\n  // Flex\n  flex_vertadr: Int32Array;\n  flex_vertnum: Int32Array;\n  flex_faceadr: Int32Array;\n  flex_facenum: Int32Array;\n  flex_face: Int32Array;\n  flex_rgba: Float32Array;\n\n  // Model options\n  opt: {\n    timestep: number;\n    gravity: Float64Array;\n    integrator: number;\n    [key: string]: unknown;\n  };\n\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for MuJoCo Data to avoid 'any'.\n */\nexport interface MujocoData {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  xpos: Float64Array;\n  xquat: Float64Array;\n  xfrc_applied: Float64Array;\n  qfrc_applied: Float64Array;\n  qfrc_bias: Float64Array;\n  site_xpos: Float64Array;\n  site_xmat: Float64Array;\n  cam_xpos?: Float64Array;\n  cam_xmat?: Float64Array;\n  xmat?: Float64Array;\n  sensordata: Float64Array;\n  ncon: number;\n  contact: MujocoContactArray;\n  cvel: Float64Array;\n  cfrc_ext: Float64Array;\n  ten_length: Float64Array;\n  wrap_xpos: Float64Array;\n  ten_wrapadr: Int32Array;\n  flexvert_xpos: Float64Array;\n  geom_xpos: Float64Array;\n  geom_xmat: Float64Array;\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for the MuJoCo WASM Module.\n */\nexport interface MujocoModule {\n  MjModel: {\n    from_xml_path?: (path: string) => MujocoModel;\n    from_xml_string?: (xml: string, vfs?: unknown) => MujocoModel;\n    loadFromXML?: (path: string) => MujocoModel;\n    [key: string]: unknown;\n  };\n  MjData: new (model: MujocoModel) => MujocoData;\n  MjvOption: new () => { delete: () => void; [key: string]: unknown };\n  mj_forward: (m: MujocoModel, d: MujocoData) => void;\n  mj_step: (m: MujocoModel, d: MujocoData) => void;\n  mj_resetData: (m: MujocoModel, d: MujocoData) => void;\n  mj_step1: (m: MujocoModel, d: MujocoData) => void;\n  mj_step2: (m: MujocoModel, d: MujocoData) => void;\n  mj_applyFT: (\n    model: MujocoModel,\n    data: MujocoData,\n    force: Float64Array,\n    torque: Float64Array,\n    point: Float64Array,\n    bodyId: number,\n    qfrc_target: Float64Array\n  ) => void;\n  mj_ray: (\n    model: MujocoModel,\n    data: MujocoData,\n    pnt: Float64Array,\n    vec: Float64Array,\n    geomgroup: Uint8Array | null,\n    flg_static: number,\n    bodyexclude: number,\n    geomid: Int32Array\n  ) => number;\n  mj_name2id: (model: MujocoModel, type: number, name: string) => number;\n  mjtObj: Record<string, number>;\n  mjtGeom: Record<string, number | {value: number}>;\n  mjtJoint: Record<string, number | {value: number}>;\n  mjtSensor: Record<string, number | {value: number}>;\n  FS: {\n      writeFile: (path: string, content: string | Uint8Array) => void;\n      readFile: (path: string, opts?: { encoding: string }) => string | Uint8Array;\n      mkdir: (path: string) => void;\n      unmount: (path: string) => void;\n  };\n  [key: string]: unknown;\n}\n\n// ---- Scene Configuration ----\n\nexport interface SceneObject {\n  name: string;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position: [number, number, number];\n  rgba: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n}\n\nexport interface XmlPatch {\n  target: string;\n  inject?: string;\n  injectAfter?: string;\n  replace?: [string, string];\n}\n\nexport type LocalMujocoFile = File;\n\nexport interface LoadFromFilesOptions {\n  /** Entry MJCF/URDF file. Inferred from scene.xml, model.xml, robot.xml, or the first XML/URDF file when omitted. */\n  sceneFile?: string;\n  /** Additional MJCF environment XML files merged into the entry scene before MuJoCo compilation. */\n  environmentFiles?: string[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  sceneObjects?: SceneObject[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\nexport interface SceneConfig {\n  /** Base URL for fetching model files. The loader fetches `src + sceneFile` and follows dependencies. */\n  src: string;\n  /** Entry MJCF XML or URDF file name, e.g. 'scene.xml' or 'robot.urdf'. */\n  sceneFile: string;\n  /** Browser-selected files for local MJCF/URDF loading. Preserves webkitRelativePath when available. */\n  files?: readonly LocalMujocoFile[];\n  /**\n   * Additional MJCF environment XML files merged into the entry scene before compilation.\n   *\n   * Use this for static collision/physics layers such as a Gaussian-splat\n   * environment's proxy `scene.xml`; render the splat itself as a separate\n   * visual layer.\n   */\n  environmentFiles?: string[];\n  sceneObjects?: SceneObject[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\n// ---- IK Controller Config ----\n\nexport type ResourceSelector<TInfo, TName extends string = string> =\n  | TName\n  | readonly TName[]\n  | RegExp\n  | ((info: TInfo) => boolean);\n\nexport interface IkConfig {\n  /** MuJoCo site name for IK target. */\n  siteName: Sites;\n  /**\n   * Explicit joints for IK. When omitted, the controller infers scalar hinge/slide\n   * joints by walking from the site body to the model root.\n   */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Explicit actuators for IK control output. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n  /**\n   * Number of joints to solve for, assuming legacy contiguous qpos/ctrl layout\n   * starting at index 0. Prefer inferred IK or `joints`/`actuators`.\n   */\n  numJoints?: number;\n  /** Custom IK solver. When omitted, uses built-in Damped Least-Squares solver. */\n  ikSolveFn?: IKSolveFn;\n  /** DLS damping. Default: 0.01. */\n  damping?: number;\n  /** Max solver iterations. Default: 50. */\n  maxIterations?: number;\n}\n\nexport interface IkContextValue {\n  ikEnabledRef: React.RefObject<boolean>;\n  ikCalculatingRef: React.RefObject<boolean>;\n  ikTargetRef: React.RefObject<THREE.Group>;\n  siteIdRef: React.RefObject<number>;\n  setIkEnabled: (enabled: boolean) => void;\n  moveTarget: (pos: THREE.Vector3, duration?: number) => void;\n  syncTargetToSite: () => void;\n  solveIK: (input: IkSolveInput) => number[] | null;\n  getGizmoStats: () => { pos: THREE.Vector3; rot: THREE.Euler } | null;\n}\n\nexport interface SceneMarker {\n  id: number;\n  position: THREE.Vector3;\n  label: string;\n}\n\n// ---- Physics Config (spec 1.1) ----\n\nexport interface PhysicsConfig {\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n}\n\n// ---- IK ----\n\nexport type IKSolveFn = (\n  input: IkSolveInput\n) => number[] | null;\n\nexport interface IkSolveInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n  currentQ: number[];\n  context?: IKSolveContext;\n}\n\nexport interface IKSolveContext {\n  model: MujocoModel;\n  data: MujocoData;\n  siteId: number;\n  controlGroup: ControlGroupInfo;\n}\n\n// ---- Callbacks ----\n\nexport interface PhysicsStepInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface ResetCallbackInput extends PhysicsStepInput {}\n\nexport interface ReadyCallbackInput {\n  api: MujocoSimAPI;\n}\n\nexport interface StepCallbackInput {\n  time: number;\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface SelectionCallbackInput {\n  bodyId: number;\n  name: string;\n}\n\nexport type PhysicsStepCallback = (input: PhysicsStepInput) => void;\n\n// ---- State Management (spec 4.1) ----\n\nexport interface StateSnapshot {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  qfrc_applied: Float64Array;\n}\n\n// ---- Model Introspection (spec 5.1) ----\n\nexport interface BodyInfo {\n  id: number;\n  name: string;\n  mass: number;\n  parentId: number;\n}\n\nexport interface JointInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  range: [number, number];\n  limited: boolean;\n  bodyId: number;\n  qposAdr: number;\n  dofAdr: number;\n}\n\nexport interface GeomInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  size: [number, number, number];\n  bodyId: number;\n}\n\nexport interface SiteInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n}\n\nexport interface ActuatorInfo {\n  id: number;\n  name: string;\n  range: [number, number];\n}\n\nexport interface ActuatedJointInfo extends JointInfo {\n  actuatorId: number;\n  actuatorName: string;\n  ctrlAdr: number;\n  ctrlRange: [number, number];\n}\n\nexport interface ControlJointInfo extends JointInfo {\n  actuatorId: number | null;\n  actuatorName: string | null;\n  ctrlAdr: number | null;\n  ctrlRange: [number, number] | null;\n}\n\nexport interface ControlGroupSelector {\n  /** Infer a kinematic chain from a MuJoCo site. */\n  siteName?: Sites;\n  /** Infer a kinematic chain from a body. */\n  bodyName?: Bodies;\n  /** Select joints by name, names, regex, or predicate. */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Select actuators by name, names, regex, or predicate. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n}\n\nexport interface ControlGroupInfo {\n  /** Joints in solve/control order. */\n  joints: ControlJointInfo[];\n  /** Actuators in control output order. */\n  actuators: ActuatorInfo[];\n  /** qpos addresses for scalar hinge/slide joints. */\n  qposAdr: number[];\n  /** dof addresses for scalar hinge/slide joints. */\n  dofAdr: number[];\n  /** ctrl addresses matching writable actuators. */\n  ctrlAdr: number[];\n  readQpos(data: MujocoData): Float64Array;\n  readCtrl(data: MujocoData): Float64Array;\n  writeQpos(data: MujocoData, values: ArrayLike<number>): void;\n  writeCtrl(data: MujocoData, values: ArrayLike<number>): void;\n}\n\nexport interface SensorInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  dim: number;\n  adr: number;\n}\n\nexport interface CameraInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n  fov: number | null;\n  position: [number, number, number] | null;\n  quaternion: [number, number, number, number] | null;\n}\n\n// ---- Contacts (spec 2.4, 2.5) ----\n\nexport interface ContactInfo {\n  geom1: number;\n  geom1Name: string;\n  geom2: number;\n  geom2Name: string;\n  pos: [number, number, number];\n  depth: number;\n}\n\n// ---- Raycast (spec 7.1) ----\n\nexport interface RayHit {\n  point: THREE.Vector3;\n  bodyId: number;\n  geomId: number;\n  distance: number;\n}\n\n// ---- Model Options (spec 5.3) ----\n\nexport interface ModelOptions {\n  timestep: number;\n  gravity: [number, number, number];\n  integrator: number;\n}\n\n// ---- Trajectory (spec 13.1, 13.2) ----\n\nexport interface TrajectoryFrame {\n  time: number;\n  qpos: Float64Array;\n  qvel?: Float64Array;\n  ctrl?: Float64Array;\n  sensordata?: Float64Array;\n}\n\nexport interface TrajectoryData {\n  frames: TrajectoryFrame[];\n  fps: number;\n}\n\nexport type PlaybackState = 'idle' | 'playing' | 'paused' | 'completed';\n\n// ---- Keyboard Teleop (spec 12.1) ----\n\nexport interface KeyBinding {\n  actuator: Actuators;\n  delta?: number;\n  toggle?: [number, number];\n  set?: number;\n}\n\nexport interface KeyboardTeleopConfig {\n  bindings: Record<string, KeyBinding>;\n  enabled?: boolean;\n}\n\n// ---- Policy (spec 10.1) ----\n\nexport type PolicyVector = Float32Array | Float64Array | number[];\n\nexport interface PolicyObservationInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface PolicyInferenceInput extends PolicyObservationInput {\n  observation: PolicyVector;\n}\n\nexport interface PolicyActionInput extends PolicyInferenceInput {\n  action: PolicyVector;\n}\n\nexport interface PolicyConfig {\n  frequency: number;\n  enabled?: boolean;\n  onObservation: (input: PolicyObservationInput) => PolicyVector;\n  /** Run policy inference. Omit to pass observations directly to `onAction` for custom inline controllers. */\n  infer?: (input: PolicyInferenceInput) => PolicyVector;\n  onAction: (input: PolicyActionInput) => void;\n}\n\n// ---- Observation Builder ----\n\nexport type ObservationOutput = 'float32' | 'float64';\n\nexport interface ObservationConfig {\n  /** Include scalar simulation time. */\n  time?: boolean;\n  /** Include all qpos values. */\n  qpos?: boolean;\n  /** Include all qvel values. */\n  qvel?: boolean;\n  /** Include all ctrl values. */\n  ctrl?: boolean;\n  /** Include all actuator activation values. */\n  act?: boolean;\n  /** Include all raw sensordata values. */\n  sensordata?: boolean;\n  /** Include named sensor values in the configured order. */\n  sensors?: readonly Sensors[];\n  /** Include named site world positions in the configured order. */\n  sites?: readonly Sites[];\n  /** Include world gravity projected into each named body's local frame. */\n  projectedGravity?: Bodies | readonly Bodies[];\n  /** Output array type. Defaults to Float32Array. */\n  output?: ObservationOutput;\n}\n\nexport interface ObservationLayoutItem {\n  name: string;\n  start: number;\n  size: number;\n}\n\nexport interface ObservationResult {\n  values: Float32Array | Float64Array;\n  layout: ObservationLayoutItem[];\n}\n\nexport interface ObservationHandle {\n  /** Read a fresh observation from the current live MuJoCo model/data refs. */\n  read(): ObservationResult;\n  /** Read just the vector values for policy inference. */\n  readValues(): Float32Array | Float64Array;\n}\n\n// ---- Debug Component (spec 6.1) ----\n\nexport interface DebugProps {\n  showGeoms?: boolean;\n  showSites?: boolean;\n  showJoints?: boolean;\n  showContacts?: boolean;\n  showCOM?: boolean;\n  showInertia?: boolean;\n  showTendons?: boolean;\n}\n\n// ---- Component Props ----\n\nexport interface IkGizmoProps {\n  controller: IkContextValue;\n  siteName?: string;\n  scale?: number;\n  onDrag?: (input: IkGizmoDragInput) => void;\n}\n\nexport interface IkGizmoDragInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n}\n\nexport interface DragInteractionProps {\n  stiffness?: number;\n  showArrow?: boolean;\n}\n\nexport interface SceneLightsProps {\n  /** Override intensity for all MJCF lights. Default: 1.0. */\n  intensity?: number;\n}\n\n// ---- Visual scenarios / 3DGS composition ----\n\nexport type ScenarioLightingPreset = 'studio' | 'warehouse' | 'low-light' | 'splat';\nexport type SplatFormat = 'spz' | 'ply' | 'splat';\nexport type SplatRendererKind = 'spark' | 'custom';\nexport type SplatCollisionPrimitive = 'plane' | 'box' | 'sphere' | 'capsule' | 'mesh';\n\nexport interface ScenarioCameraConfig {\n  jitter?: number;\n  exposure?: number;\n  noise?: number;\n  blur?: number;\n}\n\nexport interface ScenarioMaterialConfig {\n  randomizeObjectColors?: boolean;\n  randomizeTableMaterial?: boolean;\n  roughness?: number;\n  metalness?: number;\n}\n\nexport interface SplatAssetConfig {\n  src: string;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  /** Optional renderer hint. The library does not import renderer-specific code. */\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatScenarioConfig {\n  enabled: boolean;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  src?: string;\n  requiresCollisionProxy?: boolean;\n  collisionProxy?: SplatCollisionProxyConfig | null;\n}\n\nexport interface SplatCollisionProxyConfig {\n  /** MJCF/XML file or artifact path that provides physics collision for the visual splat. */\n  xmlPath?: string;\n  /** Human-readable status for authoring and validation flows. */\n  status?: 'missing' | 'planned' | 'generated' | 'validated';\n  /** Primitive proxy shapes expected in the MJCF collision proxy. */\n  primitives?: SplatCollisionPrimitive[];\n  /** Optional notes that should travel with scene variants and rollout metadata. */\n  notes?: string[];\n}\n\nexport interface PairedSplatEnvironmentConfig {\n  id: string;\n  label: string;\n  description?: string;\n  /** Visual-only Gaussian splat asset. */\n  splat: SplatAssetConfig;\n  /** MJCF/XML contact geometry paired with the visual splat. */\n  collisionProxy: SplatCollisionProxyConfig & { xmlPath: string };\n}\n\nexport const SplatEnvironmentReadinessStatus = {\n  Disabled: 'disabled',\n  MissingSplat: 'missing-splat',\n  MissingCollisionProxy: 'missing-collision-proxy',\n  UnsupportedFormat: 'unsupported-format',\n  Ready: 'ready',\n} as const;\n\nexport type SplatEnvironmentReadinessStatus =\n  (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];\n\nexport interface SplatEnvironmentReadiness {\n  status: SplatEnvironmentReadinessStatus;\n  ready: boolean;\n  requiresCollisionProxy: boolean;\n  missing: Array<'splat' | 'collisionProxy'>;\n  format?: SplatFormat;\n  renderer?: SplatRendererKind;\n  message: string;\n}\n\nexport interface SplatEnvironmentMetadataInput {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n}\n\nexport interface SplatEnvironmentMetadata {\n  src?: string;\n  format: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness: SplatEnvironmentReadiness;\n  userData: Record<string, unknown>;\n}\n\nexport type SplatSceneInput =\n  | PairedSplatEnvironmentConfig\n  | VisualScenarioConfig\n  | undefined\n  | null;\n\nexport interface SplatSceneConfigInput {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatSceneConfigState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  enabled: boolean;\n  readiness: SplatEnvironmentReadiness;\n}\n\nexport interface VisualScenarioConfig {\n  id?: string;\n  label?: string;\n  seed?: number;\n  lighting?: ScenarioLightingPreset;\n  environment?: string;\n  camera?: ScenarioCameraConfig;\n  materials?: ScenarioMaterialConfig;\n  splat?: SplatScenarioConfig | null;\n}\n\nexport interface ScenarioLightingProps {\n  preset?: ScenarioLightingPreset;\n  intensity?: number;\n  castShadow?: boolean;\n}\n\nexport interface SplatEnvironmentProps extends Omit<ThreeElements['group'], 'ref'> {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: ReactNode;\n  collisionProxyMetadata?: SplatCollisionProxyConfig;\n  showPlaceholder?: boolean;\n}\n\nexport interface VisualScenarioEffectsProps {\n  scenario?: VisualScenarioConfig;\n  enabled?: boolean;\n  applyBackground?: boolean;\n  applyFog?: boolean;\n  applyRenderer?: boolean;\n  applyMaterials?: boolean;\n  background?: THREE.ColorRepresentation;\n  fogNear?: number;\n  fogFar?: number;\n  materialFilter?: (input: VisualScenarioMaterialFilterInput) => boolean;\n}\n\nexport interface VisualScenarioMaterialFilterInput {\n  object: THREE.Object3D;\n  material: THREE.Material;\n}\n\nexport type TrajectoryInput = TrajectoryFrame[] | number[][];\n\nexport interface TrajectoryPlayerProps {\n  trajectory: TrajectoryInput;\n  fps?: number;\n  speed?: number;\n  loop?: boolean;\n  playing?: boolean;\n  mode?: 'kinematic' | 'physics';\n  onFrame?: (input: TrajectoryFrameCallbackInput) => void;\n  onComplete?: () => void;\n  onStateChange?: (input: TrajectoryStateChangeInput) => void;\n}\n\nexport interface TrajectoryFrameCallbackInput {\n  frameIndex: number;\n  frame: TrajectoryFrame | number[] | undefined;\n}\n\nexport interface TrajectoryStateChangeInput {\n  state: PlaybackState;\n}\n\nexport interface SelectionHighlightProps {\n  bodyId: number | null;\n  color?: string;\n  emissiveIntensity?: number;\n}\n\nexport interface ContactListenerProps {\n  body: Bodies;\n  onContactEnter?: (info: ContactInfo) => void;\n  onContactExit?: (info: ContactInfo) => void;\n}\n\nexport interface BodyProps {\n  name: Bodies;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position?: [number, number, number];\n  rgba?: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n  children?: ReactNode;\n}\n\n// ---- Public API (spec: full surface) ----\n\nexport interface MujocoSimAPI {\n  // State\n  readonly status: 'loading' | 'ready' | 'error';\n  readonly config: SceneConfig;\n\n  // Simulation control (spec 1.1, 1.2, 1.3)\n  reset(): void;\n  setSpeed(multiplier: number): void;\n  togglePause(): boolean;\n  setPaused(paused: boolean): void;\n  step(n?: number): void;\n  getTime(): number;\n  getTimestep(): number;\n  applyKeyframe(nameOrIndex: Keyframes | number): void;\n\n  // State management (spec 4.1, 4.2, 4.3)\n  saveState(): StateSnapshot;\n  restoreState(snapshot: StateSnapshot): void;\n  setQpos(values: Float64Array | number[]): void;\n  setQvel(values: Float64Array | number[]): void;\n  getQpos(): Float64Array;\n  getQvel(): Float64Array;\n\n  // Actuator / control (spec 3.1)\n  setCtrl(nameOrValues: Actuators | Record<Actuators, number>, value?: number): void;\n  getCtrl(): Float64Array;\n  getControlMap(): ControlGroupInfo;\n  getActuatedJoints(): ActuatedJointInfo[];\n  resolveControlGroup(selector: ControlGroupSelector): ControlGroupInfo | null;\n\n  // Force application (spec 8.1)\n  applyForce(bodyName: Bodies, force: THREE.Vector3, point?: THREE.Vector3): void;\n  applyTorque(bodyName: Bodies, torque: THREE.Vector3): void;\n  setExternalForce(bodyName: Bodies, force: THREE.Vector3, torque: THREE.Vector3): void;\n  applyGeneralizedForce(values: Float64Array | number[]): void;\n\n  // Sensors (spec 2.1)\n  getSensorData(name: Sensors): Float64Array | null;\n\n  // Contacts (spec 2.4)\n  getContacts(): ContactInfo[];\n\n  // Model introspection (spec 5.1, 5.2)\n  getBodies(): BodyInfo[];\n  getJoints(): JointInfo[];\n  getGeoms(): GeomInfo[];\n  getSites(): SiteInfo[];\n  getActuators(): ActuatorInfo[];\n  getSensors(): SensorInfo[];\n  getCameras(): CameraInfo[];\n\n  // Model parameters (spec 5.3)\n  getModelOption(): ModelOptions;\n  setGravity(g: [number, number, number]): void;\n  setTimestep(dt: number): void;\n\n  // Raycasting (spec 7.1)\n  raycast(origin: THREE.Vector3, direction: THREE.Vector3, maxDist?: number): RayHit | null;\n\n  // Keyframes (spec 4.2)\n  getKeyframeNames(): string[];\n  getKeyframeCount(): number;\n\n  // Model loading (spec 9.1)\n  loadScene(newConfig: SceneConfig): Promise<void>;\n  loadFromFiles(files: FileList | readonly LocalMujocoFile[], options?: LoadFromFilesOptions): Promise<void>;\n  addBody(body: SceneObject): Promise<void>;\n  removeBody(name: Bodies): Promise<void>;\n  recompile(patches?: XmlPatch[]): Promise<void>;\n\n  // Canvas\n  getCanvas(): HTMLCanvasElement | null;\n  getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;\n  captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;\n  captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;\n  captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;\n  captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n  recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;\n  project2DTo3D(\n    x: number,\n    y: number,\n    cameraPos: THREE.Vector3,\n    lookAt: THREE.Vector3\n  ): { point: THREE.Vector3; bodyId: number; geomId: number } | null;\n\n  // Domain randomization (spec 10.3)\n  setBodyMass(name: Bodies, mass: number): void;\n  setGeomFriction(name: Geoms, friction: [number, number, number]): void;\n  setGeomSize(name: Geoms, size: [number, number, number]): void;\n\n  // Internal refs for advanced use\n  readonly mjModelRef: React.RefObject<MujocoModel | null>;\n  readonly mjDataRef: React.RefObject<MujocoData | null>;\n}\n\nexport type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';\n\nexport type FrameCaptureTarget =\n  | HTMLCanvasElement\n  | HTMLElement\n  | null\n  | undefined;\n\nexport type FrameCaptureTargetRef =\n  React.RefObject<HTMLCanvasElement | HTMLElement | null>;\n\nexport interface FrameCaptureOptions {\n  target?: FrameCaptureTarget | FrameCaptureTargetRef;\n  type?: string;\n  quality?: number;\n  waitForAnimationFrame?: boolean;\n}\n\nexport type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;\n\nexport interface FrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  dataUrl: string;\n  type: string;\n}\n\nexport interface FrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  blob: Blob;\n  type: string;\n}\n\nexport interface FrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;\n  captureBlob: (\n    options?: FrameCaptureOptions\n  ) => Promise<FrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport type CameraFrameCaptureVector3 =\n  | THREE.Vector3\n  | readonly [number, number, number];\n\nexport type CameraFrameCaptureQuaternion =\n  | THREE.Quaternion\n  | readonly [number, number, number, number];\n\nexport interface CameraFrameCaptureOptions {\n  /** Existing Three camera to clone before applying pose overrides. */\n  camera?: THREE.Camera;\n  /** Named MuJoCo `<camera>` to render from when available in the loaded model. */\n  cameraName?: Cameras;\n  /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */\n  siteName?: Sites;\n  /** Named MuJoCo body to use as the rendered camera pose. */\n  bodyName?: Bodies;\n  position?: CameraFrameCaptureVector3;\n  lookAt?: CameraFrameCaptureVector3;\n  quaternion?: CameraFrameCaptureQuaternion;\n  up?: CameraFrameCaptureVector3;\n  width?: number;\n  height?: number;\n  type?: string;\n  quality?: number;\n  fov?: number;\n  near?: number;\n  far?: number;\n  /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n  source?: CameraFrameCaptureSource;\n}\n\nexport type CameraFrameCaptureSource =\n  | { kind: 'mujoco-camera'; cameraName: Cameras }\n  | { kind: 'mujoco-site'; siteName: Sites }\n  | { kind: 'mujoco-body'; bodyName: Bodies }\n  | { kind: 'custom-camera' }\n  | { kind: 'explicit-pose' }\n  | { kind: 'fallback-camera' };\n\nexport interface CameraFrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  dataUrl: string;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  blob: Blob;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureResult>;\n  captureBlob: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {\n  key: string;\n}\n\nexport interface CameraFrameSequenceFrame {\n  frameIndex: number;\n  time: number;\n  cameras: Record<string, CameraFrameCaptureResult>;\n}\n\nexport interface CameraFrameSequenceCameraSummary {\n  key: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n  frameCount: number;\n  firstFrameIndex: number | null;\n  lastFrameIndex: number | null;\n  firstTimestamp: number | null;\n  lastTimestamp: number | null;\n}\n\nexport interface CameraFrameSequenceSampleInput extends PhysicsStepInput {\n  frameIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceStepInput extends PhysicsStepInput {\n  frameIndex: number;\n  stepIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceOptions {\n  cameras: readonly CameraFrameSequenceCamera[];\n  frames: number;\n  /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */\n  stepsPerFrame?: number;\n  reset?: boolean;\n  captureInitialFrame?: boolean;\n  retainFrames?: boolean;\n  /**\n   * Require each recorded stream to resolve from exactly one mounted MuJoCo\n   * camera/site/body selector. Defaults to true because sequence recording is\n   * intended for dataset/policy camera streams.\n   */\n  requireMountedSources?: boolean;\n  signal?: AbortSignal;\n  /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */\n  onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;\n  /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */\n  onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */\n  onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;\n}\n\nexport interface CameraFrameSequenceResult {\n  frames: CameraFrameSequenceFrame[];\n  cameraKeys: string[];\n  cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;\n  frameCount: number;\n}\n\nexport interface CameraFrameSequenceRecorderAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isRecording: boolean;\n  record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;\n  reset: () => void;\n}\n\n// ---- Canvas Props ----\n\nexport type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {\n  config: SceneConfig;\n  /** R3F content rendered while the MuJoCo WASM module is still loading. */\n  loadingFallback?: ReactNode;\n  onReady?: (input: ReadyCallbackInput) => void;\n  onError?: (error: Error) => void;\n  onStep?: (input: StepCallbackInput) => void;\n  onSelection?: (input: SelectionCallbackInput) => void;\n  // Declarative physics config (spec 1.1)\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n  interpolate?: boolean;\n};\n\n// ---- Hook Return Types ----\n\nexport interface SitePositionResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n}\n\nexport interface MujocoContextValue {\n  mujoco: MujocoModule | null;\n  status: 'loading' | 'ready' | 'error';\n  error: string | null;\n}\n\n/** @deprecated Use `SensorHandle` instead. */\nexport interface SensorResult {\n  value: React.RefObject<Float64Array>;\n  size: number;\n}\n\nexport interface CtrlHandle {\n  /** Read the current ctrl value. */\n  read(): number;\n  /** Write a ctrl value (goes directly to data.ctrl). */\n  write(value: number): void;\n  /** Actuator name. */\n  name: Actuators;\n  /** Actuator control range [min, max]. */\n  range: [number, number];\n}\n\nexport interface SensorHandle {\n  /** Read the current sensor data. */\n  read(): Float64Array;\n  /** Sensor dimensionality. */\n  dim: number;\n  /** Sensor name. */\n  name: Sensors;\n}\n\nexport interface BodyStateResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n  linearVelocity: React.RefObject<THREE.Vector3>;\n  angularVelocity: React.RefObject<THREE.Vector3>;\n}\n\nexport interface JointStateResult {\n  position: React.RefObject<number | Float64Array>;\n  velocity: React.RefObject<number | Float64Array>;\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport type { ThreeElements } from '@react-three/fiber';\nimport type { ReactNode } from 'react';\nimport { useEffect, useMemo } from 'react';\nimport * as THREE from 'three';\nimport { SplatEnvironmentReadinessStatus } from '../types';\nimport type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentReadiness,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\n  SplatSceneConfigInput,\n  SplatSceneConfigState,\n  SplatSceneInput,\n  ScenarioLightingPreset,\n  ScenarioLightingProps,\n  SplatEnvironmentProps,\n  VisualScenarioConfig,\n  VisualScenarioEffectsProps,\n} from '../types';\n\nconst DEFAULT_BACKGROUND = '#181a1f';\n\nexport function ScenarioLighting({\n  preset = 'studio',\n  castShadow = true,\n  intensity = 1,\n}: ScenarioLightingProps) {\n  if (preset === 'warehouse') {\n    return (\n      <>\n        <ambientLight intensity={0.18 * intensity} />\n        <directionalLight\n          position={[3.5, -2, 5]}\n          intensity={2.2 * intensity}\n          castShadow={castShadow}\n        />\n        <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'low-light') {\n    return (\n      <>\n        <ambientLight intensity={0.08 * intensity} />\n        <directionalLight\n          position={[2, -2, 3]}\n          intensity={0.75 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'splat') {\n    return (\n      <>\n        <ambientLight intensity={0.42 * intensity} />\n        <directionalLight\n          position={[1.8, -2.4, 3.5]}\n          intensity={1.2 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />\n      </>\n    );\n  }\n\n  return (\n    <>\n      <ambientLight intensity={0.35 * intensity} />\n      <directionalLight\n        position={[2.5, -3, 4]}\n        intensity={1.6 * intensity}\n        castShadow={castShadow}\n      />\n    </>\n  );\n}\n\nexport function getScenarioBackground(\n  preset: ScenarioLightingPreset | undefined,\n  fallback = DEFAULT_BACKGROUND\n) {\n  if (preset === 'warehouse') return '#20242b';\n  if (preset === 'low-light') return '#0f1115';\n  if (preset === 'splat') return '#1b1f24';\n  return fallback;\n}\n\nexport function getScenarioCameraPosition(\n  basePosition: readonly [number, number, number],\n  scenario?: Pick<VisualScenarioConfig, 'camera'>\n): [number, number, number] {\n  const [x, y, z] = basePosition;\n  const jitter = scenario?.camera?.jitter ?? 0;\n\n  return [\n    Number((x + jitter * 0.6).toFixed(3)),\n    Number((y - jitter * 0.4).toFixed(3)),\n    Number((z + jitter * 0.25).toFixed(3)),\n  ];\n}\n\nexport function VisualScenarioEffects(props: VisualScenarioEffectsProps) {\n  useVisualScenarioEffects(props);\n  return null;\n}\n\nexport function useVisualScenarioEffects({\n  scenario,\n  enabled = true,\n  applyBackground = true,\n  applyFog = true,\n  applyRenderer = true,\n  applyMaterials = true,\n  background,\n  fogNear,\n  fogFar,\n  materialFilter,\n}: VisualScenarioEffectsProps) {\n  const { gl, scene, invalidate } = useThree();\n\n  useEffect(() => {\n    if (!enabled || !scenario) {\n      return undefined;\n    }\n\n    const previousExposure = gl.toneMappingExposure;\n    const previousBackground = scene.background;\n    const previousFog = scene.fog;\n    const materialSnapshots = new Map<\n      THREE.Material,\n      {\n        color?: THREE.Color;\n        roughness?: number;\n        metalness?: number;\n      }\n    >();\n\n    if (applyRenderer) {\n      gl.toneMappingExposure = scenario.camera?.exposure ?? 1;\n    }\n\n    if (applyBackground) {\n      scene.background = new THREE.Color(\n        background ?? getScenarioBackground(scenario.lighting)\n      );\n    }\n\n    if (applyFog) {\n      scene.fog = createScenarioFog(scenario, background, fogNear, fogFar);\n    }\n\n    if (applyMaterials && scenario.materials) {\n      applyScenarioMaterials(scene, scenario, materialSnapshots, materialFilter);\n    }\n\n    invalidate();\n\n    return () => {\n      gl.toneMappingExposure = previousExposure;\n      scene.background = previousBackground;\n      scene.fog = previousFog;\n\n      for (const [material, snapshot] of materialSnapshots) {\n        const mutable = getMutableScenarioMaterial(material);\n        if (!mutable) continue;\n        if (snapshot.color) mutable.color.copy(snapshot.color);\n        if (typeof snapshot.roughness === 'number') {\n          mutable.roughness = snapshot.roughness;\n        }\n        if (typeof snapshot.metalness === 'number') {\n          mutable.metalness = snapshot.metalness;\n        }\n        mutable.needsUpdate = true;\n      }\n\n      invalidate();\n    };\n  }, [\n    applyBackground,\n    applyFog,\n    applyMaterials,\n    applyRenderer,\n    background,\n    enabled,\n    fogFar,\n    fogNear,\n    gl,\n    invalidate,\n    materialFilter,\n    scenario,\n    scene,\n  ]);\n}\n\n/**\n * Renderer-agnostic Gaussian splat environment boundary.\n *\n * This component intentionally does not import a specific 3DGS renderer. Pass a\n * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,\n * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.\n */\nexport function SplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  children,\n  showPlaceholder = true,\n  ...groupProps\n}: SplatEnvironmentProps) {\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const existingUserData =\n    typeof groupProps.userData === 'object' && groupProps.userData !== null\n      ? groupProps.userData\n      : {};\n\n  return (\n    <group\n      {...groupProps}\n      userData={{\n        ...existingUserData,\n        ...metadata.userData,\n      }}\n    >\n      {children}\n      {children || !showPlaceholder ? null : <SplatPlaceholder />}\n      {collisionProxy}\n    </group>\n  );\n}\n\nexport function useSplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {\n  const scenarioEnvironment = useMemo(\n    () =>\n      environment ??\n      (scenario\n        ? createPairedSplatEnvironment(scenario, { renderer })\n        : undefined),\n    [environment, renderer, scenario]\n  );\n  const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;\n  const resolvedFormat =\n    format ??\n    scenarioEnvironment?.splat.format ??\n    scenario?.splat?.format ??\n    'spz';\n  const resolvedCollisionProxy =\n    collisionProxy ??\n    scenarioEnvironment?.collisionProxy ??\n    scenario?.splat?.collisionProxy ??\n    undefined;\n  const readiness = useMemo(\n    () =>\n      getSplatEnvironmentReadiness({\n        environment: scenarioEnvironment,\n        scenario,\n        renderer,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    [\n      collisionProxy,\n      renderer,\n      resolvedCollisionProxy,\n      resolvedFormat,\n      resolvedSrc,\n      scenario,\n      scenarioEnvironment,\n    ]\n  );\n\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      readiness,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n        readiness,\n      }),\n    }),\n    [\n      scenarioEnvironment,\n      resolvedSrc,\n      resolvedFormat,\n      resolvedCollisionProxy,\n      readiness,\n    ]\n  );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment and compose its MJCF\n * collision proxy into a MuJoCo scene config.\n *\n * This hook is renderer-agnostic: apps can use it with Spark, another 3DGS\n * renderer, or their own Three scene objects while keeping physics collision\n * files paired with the visual splat metadata.\n */\nexport function useSplatSceneConfig({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n  const resolvedEnvironment = useMemo(\n    () =>\n      enabled\n        ? environment ??\n          (scenario\n            ? createPairedSplatEnvironment(scenario, { renderer })\n            : undefined)\n        : undefined,\n    [enabled, environment, renderer, scenario]\n  );\n  const readiness = useMemo(\n    () =>\n      getSplatEnvironmentReadiness({\n        environment: resolvedEnvironment,\n        scenario,\n        renderer,\n        enabled,\n      }),\n    [enabled, renderer, resolvedEnvironment, scenario]\n  );\n  const resolvedSceneConfig = useMemo(\n    () =>\n      resolvedEnvironment\n        ? withSplatEnvironment(sceneConfig, resolvedEnvironment)\n        : sceneConfig,\n    [resolvedEnvironment, sceneConfig]\n  );\n\n  return useMemo(\n    () => ({\n      environment: resolvedEnvironment,\n      sceneConfig: resolvedSceneConfig,\n      enabled: enabled && readiness.status !== SplatEnvironmentReadinessStatus.Disabled,\n      readiness,\n    }),\n    [enabled, readiness, resolvedEnvironment, resolvedSceneConfig]\n  );\n}\n\nexport function getSplatEnvironmentReadiness({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  enabled = true,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: Pick<VisualScenarioConfig, 'splat'>;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  enabled?: boolean;\n}): SplatEnvironmentReadiness {\n  const splat = scenario?.splat;\n  const resolvedSrc = src ?? environment?.splat.src ?? splat?.src;\n  const resolvedFormat =\n    format ?? environment?.splat.format ?? splat?.format ?? 'spz';\n  const resolvedRenderer = renderer ?? environment?.splat.renderer;\n  const resolvedCollisionProxy =\n    collisionProxy ?? environment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n  const requiresCollisionProxy = splat?.requiresCollisionProxy ?? true;\n\n  if (!enabled || (splat && splat.enabled === false && !environment)) {\n    return {\n      status: SplatEnvironmentReadinessStatus.Disabled,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is disabled.',\n    };\n  }\n\n  if (!resolvedSrc) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingSplat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['splat'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing a visual asset source.',\n    };\n  }\n\n  if (resolvedRenderer === 'spark' && resolvedFormat !== 'spz') {\n    return {\n      status: SplatEnvironmentReadinessStatus.UnsupportedFormat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: `Spark splat rendering requires .spz assets; received ${resolvedFormat}.`,\n    };\n  }\n\n  if (requiresCollisionProxy && !resolvedCollisionProxy?.xmlPath) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingCollisionProxy,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['collisionProxy'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing paired MJCF collision proxy XML.',\n    };\n  }\n\n  return {\n    status: SplatEnvironmentReadinessStatus.Ready,\n    ready: true,\n    requiresCollisionProxy,\n    missing: [],\n    format: resolvedFormat,\n    renderer: resolvedRenderer,\n    message: requiresCollisionProxy\n      ? 'Splat environment has visual asset and collision proxy metadata.'\n      : 'Splat environment has a visual asset and does not require collision proxy metadata.',\n  };\n}\n\n/**\n * Convert a generic visual scenario splat block into a paired visual/physics\n * environment config. Returns undefined until both the splat asset and MJCF\n * collision proxy are present.\n */\nexport function createPairedSplatEnvironment(\n  scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>,\n  options: {\n    id?: string;\n    label?: string;\n    description?: string;\n    renderer?: SplatRendererKind;\n  } = {}\n): PairedSplatEnvironmentConfig | undefined {\n  const splat = scenario.splat;\n  const collisionProxy = splat?.collisionProxy;\n\n  if (!splat?.enabled || !splat.src || !collisionProxy?.xmlPath) {\n    return undefined;\n  }\n\n  return {\n    id: options.id ?? scenario.id ?? 'splat-environment',\n    label: options.label ?? scenario.label ?? 'Gaussian splat environment',\n    description:\n      options.description ??\n      (scenario.environment\n        ? `Visual ${scenario.environment} splat paired with MJCF collision proxy.`\n        : undefined),\n    splat: {\n      src: splat.src,\n      format: splat.format ?? 'spz',\n      renderer: options.renderer,\n    },\n    collisionProxy: {\n      ...collisionProxy,\n      xmlPath: collisionProxy.xmlPath,\n    },\n  };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n  return !!input && 'collisionProxy' in input && 'splat' in input;\n}\n\nfunction sceneRelativePath(sceneConfig: SceneConfig, path: string): string {\n  const src = sceneConfig.src;\n  if (!src) return path;\n\n  const base = src.endsWith('/') ? src : src + '/';\n  if (path.startsWith(base)) return path.slice(base.length);\n  return path;\n}\n\nfunction uniquePaths(paths: readonly string[]): string[] {\n  const seen = new Set<string>();\n  const result: string[] = [];\n  for (const path of paths) {\n    if (seen.has(path)) continue;\n    seen.add(path);\n    result.push(path);\n  }\n  return result;\n}\n\n/**\n * Compose a MuJoCo scene config with a paired splat collision proxy.\n *\n * This keeps the common hybrid setup declarative:\n * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and\n * the paired MJCF collision proxy is added to `environmentFiles`.\n */\nexport function withSplatEnvironment(\n  sceneConfig: SceneConfig,\n  input: SplatSceneInput,\n  options: { renderer?: SplatRendererKind } = {}\n): SceneConfig {\n  const environment = isPairedSplatEnvironment(input)\n    ? input\n    : input\n      ? createPairedSplatEnvironment(input, options)\n      : undefined;\n  const xmlPath = environment?.collisionProxy.xmlPath;\n  if (!xmlPath) return sceneConfig;\n\n  return {\n    ...sceneConfig,\n    environmentFiles: uniquePaths([\n      ...(sceneConfig.environmentFiles ?? []),\n      sceneRelativePath(sceneConfig, xmlPath),\n    ]),\n  };\n}\n\nexport function createSplatEnvironmentUserData({\n  environment,\n  src,\n  format = 'spz',\n  collisionProxy,\n  readiness,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness?: SplatEnvironmentReadiness;\n}) {\n  return {\n    role: 'splat-environment',\n    environmentId: environment?.id,\n    environmentLabel: environment?.label,\n    splatSrc: src,\n    splatFormat: format,\n    splatRenderer: environment?.splat.renderer,\n    collisionProxyStatus: collisionProxy?.status ?? 'missing',\n    collisionProxyXmlPath: collisionProxy?.xmlPath,\n    collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n    readinessStatus: readiness?.status,\n    readinessMessage: readiness?.message,\n  };\n}\n\nexport function createSparkSplatViewerUrl({\n  viewerUrl,\n  splatSrc,\n}: {\n  viewerUrl: string;\n  splatSrc: string;\n}) {\n  const url = new URL(viewerUrl, 'http://mujoco-react.local');\n  url.searchParams.set('splat', splatSrc);\n  return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;\n}\n\nfunction SplatPlaceholder() {\n  return (\n    <group>\n      <mesh position={[0, 0, 1.2]}>\n        <boxGeometry args={[2.4, 2.4, 2.4]} />\n        <meshBasicMaterial\n          color=\"#8b8b8b\"\n          transparent\n          opacity={0.06}\n          wireframe\n          side={THREE.DoubleSide}\n        />\n      </mesh>\n    </group>\n  );\n}\n\nfunction createScenarioFog(\n  scenario: VisualScenarioConfig,\n  background: THREE.ColorRepresentation | undefined,\n  fogNear: number | undefined,\n  fogFar: number | undefined\n) {\n  if (scenario.lighting === 'low-light') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 2.5,\n      fogFar ?? 9\n    );\n  }\n\n  if (scenario.lighting === 'warehouse') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 5,\n      fogFar ?? 16\n    );\n  }\n\n  return null;\n}\n\nfunction applyScenarioMaterials(\n  scene: THREE.Scene,\n  scenario: VisualScenarioConfig,\n  snapshots: Map<\n    THREE.Material,\n    {\n      color?: THREE.Color;\n      roughness?: number;\n      metalness?: number;\n    }\n  >,\n  materialFilter: VisualScenarioEffectsProps['materialFilter']\n) {\n  const materials = scenario.materials;\n  if (!materials) return;\n\n  scene.traverse((object) => {\n    if (!(object instanceof THREE.Mesh)) {\n      return;\n    }\n\n    for (const material of normalizeMaterials(object.material)) {\n      const mutable = getMutableScenarioMaterial(material);\n      if (!mutable) continue;\n      if (materialFilter && !materialFilter({ object, material })) continue;\n\n      if (!snapshots.has(material)) {\n        snapshots.set(material, {\n          color: mutable.color.clone(),\n          roughness: mutable.roughness,\n          metalness: mutable.metalness,\n        });\n      }\n\n      applyScenarioMaterial(mutable, object, scenario, materials);\n    }\n  });\n}\n\nfunction applyScenarioMaterial(\n  material: THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial,\n  object: THREE.Object3D,\n  scenario: VisualScenarioConfig,\n  materials: ScenarioMaterialConfig\n) {\n  const seed = scenario.seed ?? 0;\n  const objectKey = `${scenario.id ?? 'scenario'}:${object.name}:${material.name}:${seed}`;\n  const variation = hashToUnitInterval(objectKey);\n\n  if (materials.randomizeObjectColors) {\n    material.color.setHSL(variation, 0.38, 0.42);\n  }\n\n  if (materials.randomizeTableMaterial) {\n    material.roughness = clamp01(\n      materials.roughness ?? 0.35 + variation * 0.45\n    );\n    material.metalness = clamp01(\n      materials.metalness ?? variation * 0.12\n    );\n  }\n\n  material.needsUpdate = true;\n}\n\nfunction normalizeMaterials(\n  material: THREE.Material | THREE.Material[]\n): THREE.Material[] {\n  return Array.isArray(material) ? material : [material];\n}\n\nfunction getMutableScenarioMaterial(\n  material: THREE.Material\n): THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial | null {\n  if (\n    material instanceof THREE.MeshStandardMaterial ||\n    material instanceof THREE.MeshPhysicalMaterial\n  ) {\n    return material;\n  }\n\n  return null;\n}\n\nfunction hashToUnitInterval(value: string) {\n  let hash = 2166136261;\n  for (let index = 0; index < value.length; index += 1) {\n    hash ^= value.charCodeAt(index);\n    hash = Math.imul(hash, 16777619);\n  }\n  return (hash >>> 0) / 4294967295;\n}\n\nfunction clamp01(value: number) {\n  return Math.max(0, Math.min(1, value));\n}\n\nexport type SplatCollisionProxy = ReactNode | ThreeElements['group'];\n"]}