mujoco-react 9.3.0 → 9.5.0

package/dist/spark.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
 import * as _sparkjsdev_spark from '@sparkjsdev/spark';
-import { n as SplatEnvironmentProps, q as PairedSplatEnvironmentConfig, S as SceneConfig, t as SplatEnvironmentReadiness, o as VisualScenarioConfig } from './types-oxbxOkAx.js';
+import { n as SplatEnvironmentProps, q as PairedSplatEnvironmentConfig, S as SceneConfig, t as SplatEnvironmentReadiness, o as VisualScenarioConfig } from './types-BDB9QT6Z.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';
@@ -8,6 +8,26 @@ import 'three';
 type SparkModule = typeof _sparkjsdev_spark;
 type SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;
 type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';
+interface SparkSplatRenderTuning {
+    /** Scale Spark's LoD splat budget for the live viewport. */
+    lodSplatScale?: number;
+    /** Minimum rendered LoD splat size. Higher values trade detail for speed. */
+    lodRenderScale?: number;
+    /** Minimum delay between Spark sort passes for the live viewport. */
+    minSortIntervalMs?: number;
+}
+interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {
+    /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */
+    maxWarmupFrames?: number;
+    /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */
+    blankSampleCount?: number;
+    /** Alpha threshold used by the blank-capture detector. Default: 8. */
+    blankAlphaThreshold?: number;
+    /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */
+    blankVisibleRatio?: number;
+    /** Minimum average sampled RGB sum before retrying capture. Default: 3. */
+    blankAverageColor?: number;
+}
 interface SparkSplatLifecycle {
     status: SparkSplatStatus;
     error: Error | null;
@@ -28,6 +48,10 @@ interface SparkSplatEnvironmentState {
 interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
     /** Enable Spark LoD handling for large splat assets. Default: true. */
     lod?: boolean | 'quality';
+    /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */
+    renderTuning?: SparkSplatRenderTuning;
+    /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */
+    captureTuning?: SparkSplatCaptureTuning;
     /**
      * Hide meshes whose names include floor, ground, or plane while the splat is
      * active. This mirrors the common hybrid-rendering setup where MJCF keeps
@@ -70,6 +94,6 @@ declare function useSparkSplatLifecycle({ enabled, initialStatus, onError, onSta
  * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app
  * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.
  */
-declare function SparkSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, showPlaceholder, children, lod, hideGroundMeshes, onStatusChange, onLoad, onError, ...groupProps }: SparkSplatEnvironmentProps): react_jsx_runtime.JSX.Element;
+declare function SparkSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, showPlaceholder, children, lod, renderTuning, captureTuning, hideGroundMeshes, onStatusChange, onLoad, onError, ...groupProps }: SparkSplatEnvironmentProps): react_jsx_runtime.JSX.Element;
 
-export { SparkSplatEnvironment, type SparkSplatEnvironmentProps, type SparkSplatEnvironmentState, type SparkSplatLifecycle, type SparkSplatStatus, useSparkSplatEnvironment, useSparkSplatLifecycle };
+export { type SparkSplatCaptureTuning, SparkSplatEnvironment, type SparkSplatEnvironmentProps, type SparkSplatEnvironmentState, type SparkSplatLifecycle, type SparkSplatRenderTuning, type SparkSplatStatus, useSparkSplatEnvironment, useSparkSplatLifecycle };

package/dist/spark.js

@@ -1,10 +1,68 @@
-import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment } from './chunk-T3GVZJ4F.js';
+import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-6MOK6ZWB.js';
 import { useThree } from '@react-three/fiber';
 import { useMemo, useState, useEffect, useCallback, useRef } from 'react';
 import * as THREE from 'three';
 import { jsxs, jsx } from 'react/jsx-runtime';
 
 var sparkDisposeRejectionHandlerRegistered = false;
+function getDefaultLiveRenderTuning(lod) {
+  return {
+    lodSplatScale: lod === false ? void 0 : lod === "quality" ? 1 : 0.6,
+    lodRenderScale: lod === false || lod === "quality" ? void 0 : 1.2,
+    minSortIntervalMs: lod === false ? 0 : lod === "quality" ? 32 : 80
+  };
+}
+function getDefaultCaptureTuning(lod) {
+  return {
+    lodSplatScale: lod === false ? void 0 : lod === "quality" ? 1.25 : 1.15,
+    lodRenderScale: lod === false ? void 0 : 0.6,
+    minSortIntervalMs: 0,
+    maxWarmupFrames: 4,
+    blankSampleCount: 512,
+    blankAlphaThreshold: 8,
+    blankVisibleRatio: 0.02,
+    blankAverageColor: 3
+  };
+}
+function resolveRenderTuning(defaults, tuning) {
+  return {
+    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,
+    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,
+    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs
+  };
+}
+function resolveCaptureTuning(lod, tuning) {
+  const defaults = getDefaultCaptureTuning(lod);
+  return {
+    ...resolveRenderTuning(defaults, tuning),
+    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,
+    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,
+    blankAlphaThreshold: tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,
+    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,
+    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor
+  };
+}
+function waitForNextAnimationFrame() {
+  return new Promise((resolve) => {
+    requestAnimationFrame(() => resolve());
+  });
+}
+function isMostlyBlankCapture(pixels, tuning) {
+  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));
+  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);
+  let sampled = 0;
+  let visible = 0;
+  let colorTotal = 0;
+  for (let i = 0; i < pixels.length; i += stride) {
+    const alpha = pixels[i + 3];
+    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];
+    sampled += 1;
+    if (alpha > tuning.blankAlphaThreshold) visible += 1;
+    colorTotal += color;
+  }
+  if (sampled === 0) return true;
+  return visible / sampled < tuning.blankVisibleRatio || colorTotal / sampled < tuning.blankAverageColor;
+}
 function useSparkSplatEnvironment({
   sceneConfig,
   scenario,
@@ -114,6 +172,8 @@ function SparkSplatEnvironment({
   showPlaceholder,
   children,
   lod = true,
+  renderTuning,
+  captureTuning,
   hideGroundMeshes = false,
   onStatusChange,
   onLoad,
@@ -122,6 +182,7 @@ function SparkSplatEnvironment({
 }) {
   const groupRef = useRef(null);
   const sparkRef = useRef(null);
+  const captureSparkRef = useRef(null);
   const meshRef = useRef(null);
   const hiddenMeshesRef = useRef([]);
   const onStatusChangeRef = useRef(onStatusChange);
@@ -137,6 +198,29 @@ function SparkSplatEnvironment({
     format,
     collisionProxy: collisionProxyMetadata
   });
+  const resolvedRenderTuning = useMemo(
+    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),
+    [
+      lod,
+      renderTuning?.lodRenderScale,
+      renderTuning?.lodSplatScale,
+      renderTuning?.minSortIntervalMs
+    ]
+  );
+  const resolvedCaptureTuning = useMemo(
+    () => resolveCaptureTuning(lod, captureTuning),
+    [
+      captureTuning?.blankAlphaThreshold,
+      captureTuning?.blankAverageColor,
+      captureTuning?.blankSampleCount,
+      captureTuning?.blankVisibleRatio,
+      captureTuning?.lodRenderScale,
+      captureTuning?.lodSplatScale,
+      captureTuning?.maxWarmupFrames,
+      captureTuning?.minSortIntervalMs,
+      lod
+    ]
+  );
   useEffect(() => {
     onStatusChangeRef.current = onStatusChange;
   }, [onStatusChange]);
@@ -159,6 +243,10 @@ function SparkSplatEnvironment({
       }
       hiddenMeshesRef.current = [];
     }
+    function disposeCaptureSpark() {
+      safelyDisposeSparkResource(captureSparkRef.current?.renderer);
+      captureSparkRef.current = null;
+    }
     async function loadSplat() {
       if (!metadata.src) {
         setLifecycleStatus("idle");
@@ -178,8 +266,60 @@ function SparkSplatEnvironment({
         if (disposed || !groupRef.current) return;
         const spark = new sparkModule.SparkRenderer({
           renderer: gl,
-          onDirty: invalidate
+          onDirty: invalidate,
+          ...resolvedRenderTuning
         });
+        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({
+          scene,
+          camera,
+          width,
+          height
+        }) => {
+          let captureSpark = captureSparkRef.current;
+          if (!captureSpark || captureSpark.width !== width || captureSpark.height !== height) {
+            disposeCaptureSpark();
+            captureSpark = {
+              renderer: new sparkModule.SparkRenderer({
+                renderer: gl,
+                autoUpdate: false,
+                lodSplatScale: resolvedCaptureTuning.lodSplatScale,
+                lodRenderScale: resolvedCaptureTuning.lodRenderScale,
+                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,
+                target: {
+                  width,
+                  height
+                }
+              }),
+              width,
+              height
+            };
+            captureSparkRef.current = captureSpark;
+          }
+          const captureRenderer = captureSpark.renderer;
+          const maxWarmupFrames = Math.max(
+            1,
+            Math.floor(resolvedCaptureTuning.maxWarmupFrames)
+          );
+          let pixels;
+          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {
+            captureRenderer.renderSize.set(width, height);
+            await captureRenderer.update({ scene, camera });
+            pixels = await captureRenderer.renderReadTarget({
+              scene,
+              camera
+            });
+            if (captureRenderer.activeSplats > 0 && !isMostlyBlankCapture(pixels, resolvedCaptureTuning)) {
+              break;
+            }
+            if (attempt < maxWarmupFrames - 1) {
+              await waitForNextAnimationFrame();
+            }
+          }
+          if (!pixels) {
+            throw new Error("Spark camera frame capture did not produce pixels.");
+          }
+          return { pixels, width, height, flipY: true };
+        };
         const mesh = new sparkModule.SplatMesh({
           url: metadata.src,
           lod
@@ -226,6 +366,7 @@ function SparkSplatEnvironment({
         safelyDisposeSparkResource(sparkRef.current);
         sparkRef.current = null;
       }
+      disposeCaptureSpark();
     };
   }, [
     gl,
@@ -233,7 +374,18 @@ function SparkSplatEnvironment({
     invalidate,
     lod,
     metadata.format,
-    metadata.src
+    metadata.src,
+    resolvedCaptureTuning.blankAlphaThreshold,
+    resolvedCaptureTuning.blankAverageColor,
+    resolvedCaptureTuning.blankSampleCount,
+    resolvedCaptureTuning.blankVisibleRatio,
+    resolvedCaptureTuning.lodRenderScale,
+    resolvedCaptureTuning.lodSplatScale,
+    resolvedCaptureTuning.maxWarmupFrames,
+    resolvedCaptureTuning.minSortIntervalMs,
+    resolvedRenderTuning.lodRenderScale,
+    resolvedRenderTuning.lodSplatScale,
+    resolvedRenderTuning.minSortIntervalMs
   ]);
   return /* @__PURE__ */ jsxs(
     SplatEnvironment,
@@ -255,6 +407,7 @@ function SparkSplatEnvironment({
   );
 }
 function safelyDisposeSparkResource(resource) {
+  if (!resource) return;
   try {
     silenceSparkWorkerTerminateRejections(resource);
     const result = resource.dispose?.();

package/dist/spark.js.map

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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n        });\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? 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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport {\n  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,\n} from './rendering/cameraFrameCapture';\nimport type {\n  CameraFrameCaptureRenderInput,\n  CameraFrameCaptureRenderResult,\n} from './rendering/cameraFrameCapture';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkCaptureRenderer = {\n  renderer: SparkRendererInstance;\n  width: number;\n  height: number;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatRenderTuning {\n  /** Scale Spark's LoD splat budget for the live viewport. */\n  lodSplatScale?: number;\n  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */\n  lodRenderScale?: number;\n  /** Minimum delay between Spark sort passes for the live viewport. */\n  minSortIntervalMs?: number;\n}\n\nexport interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {\n  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */\n  maxWarmupFrames?: number;\n  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */\n  blankSampleCount?: number;\n  /** Alpha threshold used by the blank-capture detector. Default: 8. */\n  blankAlphaThreshold?: number;\n  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */\n  blankVisibleRatio?: number;\n  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */\n  blankAverageColor?: number;\n}\n\ntype ResolvedSparkSplatCaptureTuning = Required<\n  Pick<\n    SparkSplatCaptureTuning,\n    | 'maxWarmupFrames'\n    | 'blankSampleCount'\n    | 'blankAlphaThreshold'\n    | 'blankVisibleRatio'\n    | 'blankAverageColor'\n  >\n> &\n  SparkSplatRenderTuning;\n\nfunction getDefaultLiveRenderTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,\n    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,\n    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,\n  };\n}\n\nfunction getDefaultCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): ResolvedSparkSplatCaptureTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,\n    lodRenderScale: lod === false ? undefined : 0.6,\n    minSortIntervalMs: 0,\n    maxWarmupFrames: 4,\n    blankSampleCount: 512,\n    blankAlphaThreshold: 8,\n    blankVisibleRatio: 0.02,\n    blankAverageColor: 3,\n  };\n}\n\nfunction resolveRenderTuning(\n  defaults: SparkSplatRenderTuning,\n  tuning: SparkSplatRenderTuning | undefined\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,\n    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,\n    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,\n  };\n}\n\nfunction resolveCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod'],\n  tuning: SparkSplatCaptureTuning | undefined\n): ResolvedSparkSplatCaptureTuning {\n  const defaults = getDefaultCaptureTuning(lod);\n  return {\n    ...resolveRenderTuning(defaults, tuning),\n    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,\n    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,\n    blankAlphaThreshold:\n      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,\n    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,\n    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,\n  };\n}\n\nfunction waitForNextAnimationFrame() {\n  return new Promise<void>((resolve) => {\n    requestAnimationFrame(() => resolve());\n  });\n}\n\nfunction isMostlyBlankCapture(\n  pixels: Uint8Array,\n  tuning: ResolvedSparkSplatCaptureTuning\n) {\n  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));\n  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);\n  let sampled = 0;\n  let visible = 0;\n  let colorTotal = 0;\n\n  for (let i = 0; i < pixels.length; i += stride) {\n    const alpha = pixels[i + 3];\n    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];\n    sampled += 1;\n    if (alpha > tuning.blankAlphaThreshold) visible += 1;\n    colorTotal += color;\n  }\n\n  if (sampled === 0) return true;\n  return (\n    visible / sampled < tuning.blankVisibleRatio ||\n    colorTotal / sampled < tuning.blankAverageColor\n  );\n}\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */\n  renderTuning?: SparkSplatRenderTuning;\n  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */\n  captureTuning?: SparkSplatCaptureTuning;\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  renderTuning,\n  captureTuning,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const resolvedRenderTuning = useMemo(\n    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),\n    [\n      lod,\n      renderTuning?.lodRenderScale,\n      renderTuning?.lodSplatScale,\n      renderTuning?.minSortIntervalMs,\n    ]\n  );\n  const resolvedCaptureTuning = useMemo(\n    () => resolveCaptureTuning(lod, captureTuning),\n    [\n      captureTuning?.blankAlphaThreshold,\n      captureTuning?.blankAverageColor,\n      captureTuning?.blankSampleCount,\n      captureTuning?.blankVisibleRatio,\n      captureTuning?.lodRenderScale,\n      captureTuning?.lodSplatScale,\n      captureTuning?.maxWarmupFrames,\n      captureTuning?.minSortIntervalMs,\n      lod,\n    ]\n  );\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    function disposeCaptureSpark() {\n      safelyDisposeSparkResource(captureSparkRef.current?.renderer);\n      captureSparkRef.current = null;\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n          ...resolvedRenderTuning,\n        });\n        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({\n          scene,\n          camera,\n          width,\n          height,\n        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {\n          let captureSpark = captureSparkRef.current;\n          if (\n            !captureSpark ||\n            captureSpark.width !== width ||\n            captureSpark.height !== height\n          ) {\n            disposeCaptureSpark();\n            captureSpark = {\n              renderer: new sparkModule.SparkRenderer({\n                renderer: gl,\n                autoUpdate: false,\n                lodSplatScale: resolvedCaptureTuning.lodSplatScale,\n                lodRenderScale: resolvedCaptureTuning.lodRenderScale,\n                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,\n                target: {\n                  width,\n                  height,\n                },\n              }),\n              width,\n              height,\n            };\n            captureSparkRef.current = captureSpark;\n          }\n\n          const captureRenderer = captureSpark.renderer;\n          const maxWarmupFrames = Math.max(\n            1,\n            Math.floor(resolvedCaptureTuning.maxWarmupFrames)\n          );\n          let pixels: Uint8Array | undefined;\n          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {\n            captureRenderer.renderSize.set(width, height);\n            await captureRenderer.update({ scene, camera });\n            pixels = await captureRenderer.renderReadTarget({\n              scene,\n              camera,\n            });\n            if (\n              captureRenderer.activeSplats > 0 &&\n              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)\n            ) {\n              break;\n            }\n            if (attempt < maxWarmupFrames - 1) {\n              await waitForNextAnimationFrame();\n            }\n          }\n          if (!pixels) {\n            throw new Error('Spark camera frame capture did not produce pixels.');\n          }\n          return { pixels, width, height, flipY: true };\n        };\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n\n      disposeCaptureSpark();\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n    resolvedCaptureTuning.blankAlphaThreshold,\n    resolvedCaptureTuning.blankAverageColor,\n    resolvedCaptureTuning.blankSampleCount,\n    resolvedCaptureTuning.blankVisibleRatio,\n    resolvedCaptureTuning.lodRenderScale,\n    resolvedCaptureTuning.lodSplatScale,\n    resolvedCaptureTuning.maxWarmupFrames,\n    resolvedCaptureTuning.minSortIntervalMs,\n    resolvedRenderTuning.lodRenderScale,\n    resolvedRenderTuning.lodSplatScale,\n    resolvedRenderTuning.minSortIntervalMs,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(\n  resource: SparkDisposable | null | undefined\n) {\n  if (!resource) return;\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}

package/dist/{types-oxbxOkAx.d.ts → types-BDB9QT6Z.d.ts}

@@ -643,6 +643,7 @@ interface DebugProps {
     showGeoms?: boolean;
     showSites?: boolean;
     showJoints?: boolean;
+    showCameras?: boolean;
     showContacts?: boolean;
     showCOM?: boolean;
     showInertia?: boolean;
@@ -713,8 +714,8 @@ interface PairedSplatEnvironmentConfig {
     description?: string;
     /** Visual-only Gaussian splat asset. */
     splat: SplatAssetConfig;
-    /** MJCF/XML contact geometry paired with the visual splat. */
-    collisionProxy: SplatCollisionProxyConfig & {
+    /** Optional MJCF/XML contact geometry paired with the visual splat. */
+    collisionProxy?: SplatCollisionProxyConfig & {
         xmlPath: string;
     };
 }
@@ -750,6 +751,44 @@ interface SplatEnvironmentMetadata {
     readiness: SplatEnvironmentReadiness;
     userData: Record<string, unknown>;
 }
+interface ResolvedScenarioCameraConfig {
+    jitter: number;
+    exposure: number;
+    noise: number;
+    blur: number;
+}
+interface ResolvedScenarioMaterialConfig {
+    randomizeObjectColors: boolean;
+    randomizeTableMaterial: boolean;
+    roughness?: number;
+    metalness?: number;
+}
+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';
+}
+interface VisualScenarioExecutionContextInput {
+    scenario?: VisualScenarioConfig;
+    environment?: PairedSplatEnvironmentConfig;
+    renderer?: SplatRendererKind;
+    variantId?: string;
+    enabled?: boolean;
+}
 type SplatSceneInput = PairedSplatEnvironmentConfig | VisualScenarioConfig | undefined | null;
 interface SplatSceneConfigInput {
     sceneConfig: SceneConfig;
@@ -1126,4 +1165,4 @@ interface JointStateResult {
     velocity: React__default.RefObject<number | Float64Array>;
 }
 
-export { type Actuators as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type SplatSceneConfigState as E, type SplatSceneInput as F, type DebugProps as G, type GeomInfo as H, type IkConfig as I, type ContactListenerProps as J, type ActuatorInfo as K, type Sites as L, type MujocoContextValue as M, type SitePositionResult as N, type ObservationConfig as O, type PhysicsStepCallback as P, type Sensors as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type SensorHandle as U, type VisualScenarioEffectsProps as V, type SensorInfo as W, type Joints as X, type JointStateResult as Y, type Bodies as Z, type BodyStateResult as _, type MujocoCanvasProps as a, RobotJoints as a$, type CtrlHandle as a0, type ContactInfo as a1, type KeyboardTeleopConfig as a2, type PolicyConfig as a3, type PolicyVector as a4, type ObservationHandle as a5, type TrajectoryInput as a6, type TrajectoryStateChangeInput as a7, type PlaybackState as a8, type TrajectoryFrame as a9, type Geoms as aA, type IKSolveFn as aB, type IkGizmoDragInput as aC, type IkSolveInput as aD, type JointInfo as aE, type KeyBinding as aF, type Keyframes as aG, type ModelOptions as aH, type MujocoContact as aI, type MujocoContactArray as aJ, type MujocoFrameCaptureOptions as aK, type ObservationLayoutItem as aL, type ObservationOutput as aM, type PhysicsConfig as aN, type PhysicsStepInput as aO, type PolicyActionInput as aP, type PolicyInferenceInput as aQ, type PolicyObservationInput as aR, type RayHit as aS, type Register as aT, type RegisteredRobotMap as aU, type ResetCallbackInput as aV, type ResourceSelector as aW, RobotActuators as aX, RobotBodies as aY, RobotCameras as aZ, RobotGeoms as a_, type FrameCaptureOptions as aa, type FrameCaptureResult as ab, type FrameCaptureBlobResult as ac, type FrameCaptureAPI as ad, type CameraFrameCaptureOptions as ae, type CameraFrameCaptureAPI as af, type CameraFrameSequenceRecorderAPI as ag, type Cameras as ah, type CameraFrameSequenceCamera as ai, type CameraFrameCaptureSource as aj, type CameraFrameSequenceOptions as ak, type CameraFrameSequenceResult as al, type CameraFrameCaptureResult as am, type CameraFrameCaptureBlobResult as an, type BodyInfo as ao, type CameraFrameCaptureQuaternion as ap, type CameraFrameCaptureVector3 as aq, type CameraFrameSequenceCameraSummary as ar, type CameraFrameSequenceFrame as as, type CameraFrameSequenceSampleInput as at, type CameraFrameSequenceStepInput as au, type CameraInfo as av, type ControlJointInfo as aw, type FrameCaptureStatus as ax, type FrameCaptureTarget as ay, type FrameCaptureTargetRef as az, type MujocoSimAPI as b, RobotKeyframes as b0, type RobotResource as b1, RobotResources as b2, RobotSensors as b3, RobotSites as b4, type Robots as b5, type ScenarioCameraConfig as b6, type ScenarioMaterialConfig as b7, type SceneMarker as b8, type SceneObject as b9, type SensorResult as ba, type SiteInfo as bb, type SplatAssetConfig as bc, type SplatScenarioConfig as bd, type StateSnapshot as be, type TrajectoryData as bf, type TrajectoryFrameCallbackInput as bg, type VisualScenarioMaterialFilterInput as bh, type XmlPatch as bi, getContact as bj, registerRobotResources as bk, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatEnvironmentReadiness as t, type SplatCollisionPrimitive as u, SplatEnvironmentReadinessStatus as v, type ScenarioLightingPreset as w, type SplatEnvironmentMetadataInput as x, type SplatEnvironmentMetadata as y, type SplatSceneConfigInput as z };
+export { type Bodies as $, type ActuatedJointInfo as A, type BodyProps as B, type ControlGroupInfo as C, type DragInteractionProps as D, type ScenarioLightingPreset as E, type SplatEnvironmentMetadataInput as F, type SplatEnvironmentMetadata as G, type SplatSceneInput as H, type IkConfig as I, type DebugProps as J, type GeomInfo as K, type ContactListenerProps as L, type MujocoContextValue as M, type ActuatorInfo as N, type ObservationConfig as O, type PhysicsStepCallback as P, type Sites as Q, type ReadyCallbackInput as R, type SceneConfig as S, type TrajectoryPlayerProps as T, type SitePositionResult as U, type VisualScenarioEffectsProps as V, type Sensors as W, type SensorHandle as X, type SensorInfo as Y, type Joints as Z, type JointStateResult as _, type MujocoCanvasProps as a, RobotActuators as a$, type BodyStateResult as a0, type Actuators as a1, type CtrlHandle as a2, type ContactInfo as a3, type KeyboardTeleopConfig as a4, type PolicyConfig as a5, type PolicyVector as a6, type ObservationHandle as a7, type TrajectoryInput as a8, type TrajectoryStateChangeInput as a9, type FrameCaptureTarget as aA, type FrameCaptureTargetRef as aB, type Geoms as aC, type IKSolveFn as aD, type IkGizmoDragInput as aE, type IkSolveInput as aF, type JointInfo as aG, type KeyBinding as aH, type Keyframes as aI, type ModelOptions as aJ, type MujocoContact as aK, type MujocoContactArray as aL, type MujocoFrameCaptureOptions as aM, type ObservationLayoutItem as aN, type ObservationOutput as aO, type PhysicsConfig as aP, type PhysicsStepInput as aQ, type PolicyActionInput as aR, type PolicyInferenceInput as aS, type PolicyObservationInput as aT, type RayHit as aU, type Register as aV, type RegisteredRobotMap as aW, type ResetCallbackInput as aX, type ResolvedScenarioCameraConfig as aY, type ResolvedScenarioMaterialConfig as aZ, type ResourceSelector as a_, type PlaybackState as aa, type TrajectoryFrame as ab, type FrameCaptureOptions as ac, type FrameCaptureResult as ad, type FrameCaptureBlobResult as ae, type FrameCaptureAPI as af, type CameraFrameCaptureOptions as ag, type CameraFrameCaptureAPI as ah, type CameraFrameSequenceRecorderAPI as ai, type Cameras as aj, type CameraFrameSequenceCamera as ak, type CameraFrameCaptureSource as al, type CameraFrameSequenceOptions as am, type CameraFrameSequenceResult as an, type CameraFrameCaptureResult as ao, type CameraFrameCaptureBlobResult as ap, type BodyInfo as aq, type CameraFrameCaptureQuaternion as ar, type CameraFrameCaptureVector3 as as, type CameraFrameSequenceCameraSummary as at, type CameraFrameSequenceFrame as au, type CameraFrameSequenceSampleInput as av, type CameraFrameSequenceStepInput as aw, type CameraInfo as ax, type ControlJointInfo as ay, type FrameCaptureStatus as az, type MujocoSimAPI as b, RobotBodies as b0, RobotCameras as b1, RobotGeoms as b2, RobotJoints as b3, RobotKeyframes as b4, type RobotResource as b5, RobotResources as b6, RobotSensors as b7, RobotSites as b8, type Robots as b9, type ScenarioCameraConfig as ba, type ScenarioMaterialConfig as bb, type SceneMarker as bc, type SceneObject as bd, type SensorResult as be, type SiteInfo as bf, type SplatAssetConfig as bg, type SplatScenarioConfig as bh, type StateSnapshot as bi, type TrajectoryData as bj, type TrajectoryFrameCallbackInput as bk, type VisualScenarioMaterialFilterInput as bl, type XmlPatch as bm, getContact as bn, registerRobotResources as bo, type StepCallbackInput as c, type SelectionCallbackInput as d, type MujocoModule as e, type MujocoModel as f, type MujocoData as g, type ControlGroupSelector as h, type ObservationResult as i, type IkContextValue as j, type IkGizmoProps as k, type SceneLightsProps as l, type ScenarioLightingProps as m, type SplatEnvironmentProps as n, type VisualScenarioConfig as o, type SplatRendererKind as p, type PairedSplatEnvironmentConfig as q, type SplatFormat as r, type SplatCollisionProxyConfig as s, type SplatEnvironmentReadiness as t, type SplatCollisionPrimitive as u, SplatEnvironmentReadinessStatus as v, type SplatSceneConfigInput as w, type SplatSceneConfigState as x, type VisualScenarioExecutionContextInput as y, type VisualScenarioExecutionContext as z };

package/dist/vite.js

@@ -92,7 +92,7 @@ async function generateMujocoRegister(options) {
   };
 }
 async function scanModel(filePath, root, seen, names) {
-  const normalized = path.normalize(filePath);
+  const normalized = path.resolve(filePath);
   if (seen.has(normalized)) return;
   seen.add(normalized);
   const xml = await readFile(normalized, "utf8");
@@ -106,7 +106,7 @@ async function scanModel(filePath, root, seen, names) {
   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);
   }
 }
 function collectSimpleTagNames(xml, tag, target) {
@@ -254,7 +254,7 @@ function shouldInjectRegisterImport(id, root, 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, generatedRegister) {
   const fromDir = path.dirname(stripQuery(id));
@@ -295,7 +295,11 @@ function shouldRegenerate(file, watchedFiles, models, root) {
   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, root) {
+  const relative = path.relative(path.resolve(root), path.resolve(filePath));
+  return relative === "" || relative !== "" && !relative.startsWith("..") && !path.isAbsolute(relative);
 }
 /**
  * @license