mujoco-react 9.2.0 → 9.4.0

package/src/spark.tsx

@@ -15,9 +15,14 @@ import * as THREE from 'three';
 import {
   SplatEnvironment,
   useSplatEnvironment,
+  useSplatSceneConfig,
 } from './components/VisualScenario';
 import type {
+  PairedSplatEnvironmentConfig,
+  SceneConfig,
   SplatEnvironmentProps,
+  SplatEnvironmentReadiness,
+  VisualScenarioConfig,
 } from './types';
 
 type SparkModule = typeof import('@sparkjsdev/spark');
@@ -26,9 +31,22 @@ type SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;
 type SparkDisposable = {
   dispose?: () => unknown;
 };
+type SparkWorkerMessage = {
+  reject?: (error: unknown) => void;
+};
+type SparkWorkerLike = {
+  messages?: Record<string, SparkWorkerMessage>;
+};
+type SparkResourceWithWorkers = SparkDisposable & {
+  worker?: SparkWorkerLike;
+  sortWorker?: SparkWorkerLike;
+  lodWorker?: SparkWorkerLike;
+};
 
 export type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';
 
+let sparkDisposeRejectionHandlerRegistered = false;
+
 export interface SparkSplatLifecycle {
   status: SparkSplatStatus;
   error: Error | null;
@@ -39,6 +57,18 @@ export interface SparkSplatLifecycle {
   reset: () => void;
 }
 
+export interface SparkSplatEnvironmentState {
+  environment: PairedSplatEnvironmentConfig | undefined;
+  sceneConfig: SceneConfig;
+  readiness: SplatEnvironmentReadiness;
+  lifecycle: SparkSplatLifecycle;
+  props: Pick<
+    SparkSplatEnvironmentProps,
+    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'
+  >;
+  enabled: boolean;
+}
+
 export interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
   /** Enable Spark LoD handling for large splat assets. Default: true. */
   lod?: boolean | 'quality';
@@ -53,6 +83,67 @@ export interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
   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 />`.
+ */
+export function useSparkSplatEnvironment({
+  sceneConfig,
+  scenario,
+  environment,
+  enabled = true,
+  renderer = 'spark',
+  onError,
+  onStatusChange,
+}: {
+  sceneConfig: SceneConfig;
+  scenario?: VisualScenarioConfig;
+  environment?: PairedSplatEnvironmentConfig;
+  enabled?: boolean;
+  renderer?: 'spark';
+  onError?: (error: Error) => void;
+  onStatusChange?: (status: SparkSplatStatus) => void;
+}): SparkSplatEnvironmentState {
+  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 : undefined,
+        src: enabled ? metadata.src : undefined,
+        format: metadata.format,
+        ...lifecycle.props,
+      },
+      enabled: renderEnabled,
+    }),
+    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]
+  );
+}
+
 /**
  * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.
  *
@@ -177,6 +268,7 @@ export function SparkSplatEnvironment({
 
   useEffect(() => {
     let disposed = false;
+    ensureSparkDisposeRejectionHandler();
 
     function setLifecycleStatus(nextStatus: SparkSplatStatus) {
       setStatus(nextStatus);
@@ -306,6 +398,7 @@ export function SparkSplatEnvironment({
 
 function safelyDisposeSparkResource(resource: SparkDisposable) {
   try {
+    silenceSparkWorkerTerminateRejections(resource);
     const result = resource.dispose?.();
     if (isPromiseLike(result)) {
       void Promise.resolve(result).catch(handleSparkDisposeError);
@@ -324,6 +417,33 @@ function isPromiseLike(value: unknown): value is PromiseLike<unknown> {
   );
 }
 
+function silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {
+  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: unknown) => {
+        if (!isSparkWorkerTerminateError(error)) {
+          reject(error);
+        }
+      };
+    }
+  }
+}
+
+function getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {
+  const sparkResource = resource as SparkResourceWithWorkers;
+  return [
+    sparkResource.worker,
+    sparkResource.sortWorker,
+    sparkResource.lodWorker,
+  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));
+}
+
 function handleSparkDisposeError(error: unknown) {
   if (
     error instanceof Error &&
@@ -334,3 +454,27 @@ function handleSparkDisposeError(error: unknown) {
 
   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: unknown) {
+  return (
+    reason instanceof Error &&
+    reason.message.toLowerCase().includes('worker terminate')
+  );
+}

package/src/types.ts

@@ -54,8 +54,9 @@ export type RobotJoints<TRobot extends string> = RobotResource<TRobot, 'joints'>
 export type RobotSites<TRobot extends string> = RobotResource<TRobot, 'sites'>;
 export type RobotGeoms<TRobot extends string> = RobotResource<TRobot, 'geoms'>;
 export type RobotKeyframes<TRobot extends string> = RobotResource<TRobot, 'keyframes'>;
+export type RobotCameras<TRobot extends string> = RobotResource<TRobot, 'cameras'>;
 
-export type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+export type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';
 export type RobotResourceObject<TRobot extends string, TKey extends RegisterResourceKey> =
   string extends RobotResource<TRobot, TKey>
     ? Record<string, string>
@@ -73,7 +74,7 @@ type RuntimeRobotResources = Record<string, Record<RegisterResourceKey, Record<s
 type RuntimeRobotResourceRegistration = Readonly<Record<string, Readonly<Record<RegisterResourceKey, Readonly<Record<string, string>>>>>>;
 
 const runtimeRobotResources: RuntimeRobotResources = {};
-const REGISTER_RESOURCE_KEYS: RegisterResourceKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];
+const REGISTER_RESOURCE_KEYS: RegisterResourceKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];
 
 function createEmptyRuntimeResources(): Record<RegisterResourceKey, Record<string, string>> {
   return {
@@ -84,6 +85,7 @@ function createEmptyRuntimeResources(): Record<RegisterResourceKey, Record<strin
     sites: {},
     geoms: {},
     keyframes: {},
+    cameras: {},
   };
 }
 
@@ -134,6 +136,7 @@ export const RobotJoints: RobotResourceCategory<'joints'> = createResourceCatego
 export const RobotSites: RobotResourceCategory<'sites'> = createResourceCategory('sites');
 export const RobotGeoms: RobotResourceCategory<'geoms'> = createResourceCategory('geoms');
 export const RobotKeyframes: RobotResourceCategory<'keyframes'> = createResourceCategory('keyframes');
+export const RobotCameras: RobotResourceCategory<'cameras'> = createResourceCategory('cameras');
 
 export type Actuators = Register extends { actuators: infer T extends string } ? T : string;
 export type Sensors = Register extends { sensors: infer T extends string } ? T : string;
@@ -142,6 +145,7 @@ export type Joints = Register extends { joints: infer T extends string } ? T : s
 export type Sites = Register extends { sites: infer T extends string } ? T : string;
 export type Geoms = Register extends { geoms: infer T extends string } ? T : string;
 export type Keyframes = Register extends { keyframes: infer T extends string } ? T : string;
+export type Cameras = Register extends { cameras: infer T extends string } ? T : string;
 
 // ---- MuJoCo WASM Types ----
 
@@ -209,6 +213,7 @@ export interface MujocoModel {
   nflex: number;
   nmesh: number;
   nmat: number;
+  ncam?: number;
 
   // Name tables
   names: Int8Array;
@@ -220,6 +225,7 @@ export interface MujocoModel {
   name_keyadr: Int32Array;
   name_sensoradr: Int32Array;
   name_tendonadr: Int32Array;
+  name_camadr?: Int32Array;
 
   // Body
   body_mass: Float64Array;
@@ -307,6 +313,12 @@ export interface MujocoModel {
   light_exponent: Float32Array;
   light_intensity: Float32Array;
 
+  // Camera
+  cam_bodyid?: Int32Array;
+  cam_pos?: Float64Array;
+  cam_quat?: Float64Array;
+  cam_fovy?: Float64Array;
+
   // Tendon
   ten_wrapadr: Int32Array;
   ten_wrapnum: Int32Array;
@@ -350,6 +362,9 @@ export 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;
@@ -683,6 +698,15 @@ export interface SensorInfo {
   adr: number;
 }
 
+export interface CameraInfo {
+  id: number;
+  name: string;
+  bodyId: number;
+  fov: number | null;
+  position: [number, number, number] | null;
+  quaternion: [number, number, number, number] | null;
+}
+
 // ---- Contacts (spec 2.4, 2.5) ----
 
 export interface ContactInfo {
@@ -904,8 +928,29 @@ export interface PairedSplatEnvironmentConfig {
   description?: string;
   /** Visual-only Gaussian splat asset. */
   splat: SplatAssetConfig;
-  /** MJCF/XML contact geometry paired with the visual splat. */
-  collisionProxy: SplatCollisionProxyConfig & { xmlPath: string };
+  /** Optional MJCF/XML contact geometry paired with the visual splat. */
+  collisionProxy?: SplatCollisionProxyConfig & { xmlPath: string };
+}
+
+export const SplatEnvironmentReadinessStatus = {
+  Disabled: 'disabled',
+  MissingSplat: 'missing-splat',
+  MissingCollisionProxy: 'missing-collision-proxy',
+  UnsupportedFormat: 'unsupported-format',
+  Ready: 'ready',
+} as const;
+
+export type SplatEnvironmentReadinessStatus =
+  (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];
+
+export interface SplatEnvironmentReadiness {
+  status: SplatEnvironmentReadinessStatus;
+  ready: boolean;
+  requiresCollisionProxy: boolean;
+  missing: Array<'splat' | 'collisionProxy'>;
+  format?: SplatFormat;
+  renderer?: SplatRendererKind;
+  message: string;
 }
 
 export interface SplatEnvironmentMetadataInput {
@@ -921,15 +966,73 @@ export interface SplatEnvironmentMetadata {
   src?: string;
   format: SplatFormat;
   collisionProxy?: SplatCollisionProxyConfig;
+  readiness: SplatEnvironmentReadiness;
   userData: Record<string, unknown>;
 }
 
+export interface ResolvedScenarioCameraConfig {
+  jitter: number;
+  exposure: number;
+  noise: number;
+  blur: number;
+}
+
+export interface ResolvedScenarioMaterialConfig {
+  randomizeObjectColors: boolean;
+  randomizeTableMaterial: boolean;
+  roughness?: number;
+  metalness?: number;
+}
+
+export interface VisualScenarioExecutionContext {
+  scenarioId: string;
+  scenarioLabel: string;
+  variantId?: string;
+  seed: number;
+  lighting: ScenarioLightingPreset;
+  environment?: string;
+  camera: ResolvedScenarioCameraConfig;
+  materials: ResolvedScenarioMaterialConfig;
+  splatEnabled: boolean;
+  splatSrc?: string;
+  splatFormat: SplatFormat;
+  splatRenderer?: SplatRendererKind;
+  collisionProxyXmlPath?: string;
+  collisionProxyStatus?: SplatCollisionProxyConfig['status'];
+  collisionProxyPrimitives: SplatCollisionPrimitive[];
+  readiness: SplatEnvironmentReadiness;
+  transformSource: 'visualScenario.camera';
+}
+
+export interface VisualScenarioExecutionContextInput {
+  scenario?: VisualScenarioConfig;
+  environment?: PairedSplatEnvironmentConfig;
+  renderer?: SplatRendererKind;
+  variantId?: string;
+  enabled?: boolean;
+}
+
 export type SplatSceneInput =
   | PairedSplatEnvironmentConfig
   | VisualScenarioConfig
   | undefined
   | null;
 
+export interface SplatSceneConfigInput {
+  sceneConfig: SceneConfig;
+  scenario?: VisualScenarioConfig;
+  environment?: PairedSplatEnvironmentConfig;
+  enabled?: boolean;
+  renderer?: SplatRendererKind;
+}
+
+export interface SplatSceneConfigState {
+  environment: PairedSplatEnvironmentConfig | undefined;
+  sceneConfig: SceneConfig;
+  enabled: boolean;
+  readiness: SplatEnvironmentReadiness;
+}
+
 export interface VisualScenarioConfig {
   id?: string;
   label?: string;
@@ -1079,6 +1182,7 @@ export interface MujocoSimAPI {
   getSites(): SiteInfo[];
   getActuators(): ActuatorInfo[];
   getSensors(): SensorInfo[];
+  getCameras(): CameraInfo[];
 
   // Model parameters (spec 5.3)
   getModelOption(): ModelOptions;
@@ -1176,7 +1280,14 @@ export type CameraFrameCaptureQuaternion =
   | readonly [number, number, number, number];
 
 export 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;
@@ -1188,8 +1299,18 @@ export interface CameraFrameCaptureOptions {
   fov?: number;
   near?: number;
   far?: number;
+  /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */
+  source?: CameraFrameCaptureSource;
 }
 
+export 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' };
+
 export interface CameraFrameCaptureResult {
   canvas: HTMLCanvasElement;
   camera: THREE.Camera;
@@ -1197,6 +1318,7 @@ export interface CameraFrameCaptureResult {
   type: string;
   width: number;
   height: number;
+  source: CameraFrameCaptureSource;
 }
 
 export interface CameraFrameCaptureBlobResult {
@@ -1206,6 +1328,7 @@ export interface CameraFrameCaptureBlobResult {
   type: string;
   width: number;
   height: number;
+  source: CameraFrameCaptureSource;
 }
 
 export interface CameraFrameCaptureAPI {
@@ -1231,18 +1354,57 @@ export interface CameraFrameSequenceFrame {
   cameras: Record<string, CameraFrameCaptureResult>;
 }
 
+export interface CameraFrameSequenceCameraSummary {
+  key: string;
+  width: number;
+  height: number;
+  source: CameraFrameCaptureSource;
+  frameCount: number;
+  firstFrameIndex: number | null;
+  lastFrameIndex: number | null;
+  firstTimestamp: number | null;
+  lastTimestamp: number | null;
+}
+
+export interface CameraFrameSequenceSampleInput extends PhysicsStepInput {
+  frameIndex: number;
+  time: number;
+}
+
+export interface CameraFrameSequenceStepInput extends PhysicsStepInput {
+  frameIndex: number;
+  stepIndex: number;
+  time: number;
+}
+
 export 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>;
 }
 
 export interface CameraFrameSequenceResult {
   frames: CameraFrameSequenceFrame[];
   cameraKeys: string[];
+  cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;
   frameCount: number;
 }
 

package/src/vite.ts

@@ -38,7 +38,7 @@ export interface MujocoRegisterCodegenResult {
   counts: Record<RegisterKey, number>;
 }
 
-type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes';
+type RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';
 export type ModelInput = string | readonly string[] | Record<string, string>;
 
 interface ModelEntry {
@@ -47,7 +47,7 @@ interface ModelEntry {
   names: Record<RegisterKey, Set<string>>;
 }
 
-const REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes'];
+const REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];
 const MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);
 
 function createEmptyNames(): Record<RegisterKey, Set<string>> {
@@ -59,6 +59,7 @@ function createEmptyNames(): Record<RegisterKey, Set<string>> {
     sites: new Set(),
     geoms: new Set(),
     keyframes: new Set(),
+    cameras: new Set(),
   };
 }
 
@@ -157,7 +158,7 @@ async function scanModel(
   seen: Set<string>,
   names: Record<RegisterKey, Set<string>>
 ) {
-  const normalized = path.normalize(filePath);
+  const normalized = path.resolve(filePath);
   if (seen.has(normalized)) return;
   seen.add(normalized);
 
@@ -166,13 +167,14 @@ async function scanModel(
   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);
 
   for (const includePath of collectIncludePaths(xml)) {
     const next = path.resolve(path.dirname(normalized), includePath);
-    if (next.startsWith(root)) await scanModel(next, root, seen, names);
+    if (isPathInsideRoot(next, root)) await scanModel(next, root, seen, names);
   }
 }
 
@@ -300,6 +302,7 @@ function renderNamespaceAliases(models: readonly ModelEntry[]): string {
     sites: 'RobotSites',
     geoms: 'RobotGeoms',
     keyframes: 'RobotKeyframes',
+    cameras: 'RobotCameras',
   };
 
   const blocks = REGISTER_KEYS
@@ -343,7 +346,7 @@ function shouldInjectRegisterImport(id: string, root: string, generatedRegister:
   if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;
   const absolute = path.resolve(file);
   if (absolute === generatedRegister) return false;
-  return absolute.startsWith(root);
+  return isPathInsideRoot(absolute, root);
 }
 
 function renderGeneratedImport(id: string, generatedRegister: string): string {
@@ -392,5 +395,10 @@ function shouldRegenerate(file: string, watchedFiles: string[], models: readonly
   if (watchedFiles.includes(absolute)) return true;
   if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;
   const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));
-  return modelDirs.some((dir) => absolute.startsWith(dir));
+  return modelDirs.some((dir) => isPathInsideRoot(absolute, dir));
+}
+
+function isPathInsideRoot(filePath: string, root: string): boolean {
+  const relative = path.relative(path.resolve(root), path.resolve(filePath));
+  return relative === '' || (relative !== '' && !relative.startsWith('..') && !path.isAbsolute(relative));
 }

package/dist/chunk-33CV6HSV.js.map

@@ -1 +0,0 @@
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* @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 type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\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\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    }),\n    [scenarioEnvironment, resolvedSrc, resolvedFormat, resolvedCollisionProxy]\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}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\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  };\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"]}