mujoco-react 9.3.0 → 9.5.0

package/dist/vite.js.map

@@ -1 +1 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: ModelInput;\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type ModelInput = string | readonly string[] | Record<string, string>;\n\ninterface ModelEntry {\n  id: string;\n  file: string;\n  names: Record<RegisterKey, Set<string>>;\n}\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n    cameras: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = normalizeModels(options.models);\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models: options.models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    config(userConfig: { build?: { chunkSizeWarningLimit?: number } }) {\n      // three + drei + MuJoCo WASM glue are inherently large; the large-chunk\n      // warning is expected, not a failure. Raise the limit so consumers don't\n      // see it. Vite merges plugin config on top of user config, so only set a\n      // default when the consumer hasn't specified their own limit.\n      if (userConfig.build?.chunkSizeWarningLimit !== undefined) return;\n      return { build: { chunkSizeWarningLimit: 4000 } };\n    },\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    transform(code: string, id: string) {\n      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;\n      return `${renderGeneratedImport(id, generatedRegister)}\\n${code}`;\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const models = normalizeModels(options.models);\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n  const declarationsOnly = out.endsWith('.d.ts');\n\n  for (const model of models) {\n    await scanModel(path.resolve(root, model.file), root, seen, model.names);\n    mergeNames(names, model.names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.normalize(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'camera', names.cameras);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (next.startsWith(root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(\n  moduleName: string,\n  names: Record<RegisterKey, Set<string>>,\n  models: readonly ModelEntry[],\n  declarationsOnly: boolean\n): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n  const robots = models\n    .map((model) => `      ${quoteProperty(model.id)}: {\\n${renderRobotFields(model.names)}\\n      };`);\n  const namespaceAliases = renderNamespaceAliases(models);\n  const registerImport = declarationsOnly ? '' : `import { registerRobotResources } from '${moduleName}';\\n`;\n  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\\n\\n${renderResourceConstants(models)}\\n\\nregisterRobotResources(generatedRobotResources);\\n\\n`;\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\n${registerImport}import type { RobotResource } from '${moduleName}';\n\n${resources}declare module '${moduleName}' {\n  interface Register {\n    robots: {\n${robots.join('\\n')}\n    };\n${fields.join('\\n')}\n  }\n\n${namespaceAliases}\n}\n`;\n}\n\nfunction renderResourceTypes(models: readonly ModelEntry[]): string {\n  const modelTypes = models\n    .map((model) => `  readonly ${quoteProperty(model.id)}: {\\n${renderResourceTypeFields(model.names)}\\n  };`)\n    .join('\\n');\n  return `type GeneratedRobotResources = {\\n${modelTypes}\\n};`;\n}\n\nfunction renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)\n    .join('\\n');\n}\n\nfunction renderResourceObjectType(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderResourceConstants(models: readonly ModelEntry[]): string {\n  const entries = models\n    .map((model) => `  ${quoteProperty(model.id)}: {\\n${renderResourceConstantFields(model.names)}\\n  },`)\n    .join('\\n');\n  return `const generatedRobotResources: GeneratedRobotResources = {\\n${entries}\\n};`;\n}\n\nfunction renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)\n    .join('\\n');\n}\n\nfunction renderResourceObject(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderRobotFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction renderNamespaceAliases(models: readonly ModelEntry[]): string {\n  const namespaces: Record<RegisterKey, string> = {\n    actuators: 'RobotActuators',\n    sensors: 'RobotSensors',\n    bodies: 'RobotBodies',\n    joints: 'RobotJoints',\n    sites: 'RobotSites',\n    geoms: 'RobotGeoms',\n    keyframes: 'RobotKeyframes',\n    cameras: 'RobotCameras',\n  };\n\n  const blocks = REGISTER_KEYS\n    .map((key) => {\n      const aliases = models\n        .filter((model) => isIdentifier(model.id))\n        .map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);\n      if (aliases.length === 0) return '';\n      return `  export namespace ${namespaces[key]} {\\n${aliases.join('\\n')}\\n  }`;\n    })\n    .filter(Boolean)\n    .join('\\n\\n');\n\n  return blocks ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction sortedValues(values: Set<string>): string[] {\n  return [...values].sort((a, b) => a.localeCompare(b));\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction toPosixPath(value: string): string {\n  return value.split(path.sep).join('/');\n}\n\nfunction shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {\n  if (generatedRegister.endsWith('.d.ts')) return false;\n  const file = stripQuery(id);\n  if (!/\\.[cm]?[jt]sx?$/.test(file)) return false;\n  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;\n  const absolute = path.resolve(file);\n  if (absolute === generatedRegister) return false;\n  return absolute.startsWith(root);\n}\n\nfunction renderGeneratedImport(id: string, generatedRegister: string): string {\n  const fromDir = path.dirname(stripQuery(id));\n  let relative = toPosixPath(path.relative(fromDir, generatedRegister));\n  if (!relative.startsWith('.')) relative = `./${relative}`;\n  return `import '${relative}';`;\n}\n\nfunction stripQuery(id: string): string {\n  return id.split('?')[0];\n}\n\nfunction normalizeModels(input: ModelInput): ModelEntry[] {\n  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];\n  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));\n  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));\n}\n\nfunction createModelEntry(id: string, file: string): ModelEntry {\n  return { id, file, names: createEmptyNames() };\n}\n\nfunction deriveModelId(file: string): string {\n  const normalized = file.replace(/\\\\/g, '/');\n  const parts = normalized.split('/').filter(Boolean);\n  const filename = parts.at(-1) ?? 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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { mkdir, readFile, writeFile } from 'node:fs/promises';\nimport path from 'node:path';\n\ntype ViteConfig = { root: string };\ntype ViteServer = {\n  watcher: {\n    add(paths: string | string[]): void;\n    on(event: 'add' | 'change' | 'unlink', listener: (file: string) => void): void;\n  };\n};\n\nexport interface MujocoReactPluginOptions {\n  /** Entry MJCF/URDF files to scan. Prefer a record for stable per-robot type names. */\n  models: ModelInput;\n  /** Generated resource module. Defaults to `src/mujoco-register.gen.ts`. */\n  generatedRegister?: string;\n  /** Module name to augment. Defaults to `mujoco-react`. */\n  moduleName?: string;\n  /** Disable console output. */\n  disableLogging?: boolean;\n}\n\nexport interface MujocoRegisterCodegenOptions {\n  models: ModelInput;\n  out: string;\n  moduleName?: string;\n  root?: string;\n}\n\nexport interface MujocoRegisterCodegenResult {\n  out: string;\n  files: string[];\n  counts: Record<RegisterKey, number>;\n}\n\ntype RegisterKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type ModelInput = string | readonly string[] | Record<string, string>;\n\ninterface ModelEntry {\n  id: string;\n  file: string;\n  names: Record<RegisterKey, Set<string>>;\n}\n\nconst REGISTER_KEYS: RegisterKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\nconst MODEL_EXTENSIONS = new Set(['.xml', '.mjcf', '.urdf']);\n\nfunction createEmptyNames(): Record<RegisterKey, Set<string>> {\n  return {\n    actuators: new Set(),\n    sensors: new Set(),\n    bodies: new Set(),\n    joints: new Set(),\n    sites: new Set(),\n    geoms: new Set(),\n    keyframes: new Set(),\n    cameras: new Set(),\n  };\n}\n\nexport function mujocoReact(options: MujocoReactPluginOptions) {\n  const models = normalizeModels(options.models);\n  let root = process.cwd();\n  let generatedRegister = options.generatedRegister ?? 'src/mujoco-register.gen.ts';\n  let watchedFiles: string[] = [];\n\n  async function generate() {\n    const result = await generateMujocoRegister({\n      models: options.models,\n      out: generatedRegister,\n      moduleName: options.moduleName,\n      root,\n    });\n    watchedFiles = result.files;\n    if (!options.disableLogging) {\n      const total = Object.values(result.counts).reduce((sum, count) => sum + count, 0);\n      console.log(`[mujoco-react] generated ${path.relative(root, result.out)} (${total} names)`);\n    }\n    return result;\n  }\n\n  return {\n    name: 'mujoco-react',\n    enforce: 'pre' as const,\n    config(userConfig: { build?: { chunkSizeWarningLimit?: number } }) {\n      // three + drei + MuJoCo WASM glue are inherently large; the large-chunk\n      // warning is expected, not a failure. Raise the limit so consumers don't\n      // see it. Vite merges plugin config on top of user config, so only set a\n      // default when the consumer hasn't specified their own limit.\n      if (userConfig.build?.chunkSizeWarningLimit !== undefined) return;\n      return { build: { chunkSizeWarningLimit: 4000 } };\n    },\n    configResolved(config: ViteConfig) {\n      root = config.root;\n      generatedRegister = path.resolve(root, generatedRegister);\n    },\n    transform(code: string, id: string) {\n      if (!shouldInjectRegisterImport(id, root, generatedRegister)) return;\n      return `${renderGeneratedImport(id, generatedRegister)}\\n${code}`;\n    },\n    async buildStart(this: { addWatchFile?: (file: string) => void }) {\n      const result = await generate();\n      for (const file of result.files) this.addWatchFile?.(file);\n    },\n    configureServer(server: ViteServer) {\n      generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n        console.error('[mujoco-react] register generation failed', error);\n      });\n\n      server.watcher.on('add', regenerateIfModelFile);\n      server.watcher.on('change', regenerateIfModelFile);\n      server.watcher.on('unlink', regenerateIfModelFile);\n\n      function regenerateIfModelFile(file: string) {\n        if (!shouldRegenerate(file, watchedFiles, models, root)) return;\n        generate().then((result) => server.watcher.add(result.files)).catch((error: unknown) => {\n          console.error('[mujoco-react] register generation failed', error);\n        });\n      }\n    },\n  };\n}\n\nexport async function generateMujocoRegister(\n  options: MujocoRegisterCodegenOptions\n): Promise<MujocoRegisterCodegenResult> {\n  const root = path.resolve(options.root ?? process.cwd());\n  const out = path.resolve(root, options.out);\n  const moduleName = options.moduleName ?? 'mujoco-react';\n  const models = normalizeModels(options.models);\n  const names = createEmptyNames();\n  const seen = new Set<string>();\n  const declarationsOnly = out.endsWith('.d.ts');\n\n  for (const model of models) {\n    await scanModel(path.resolve(root, model.file), root, seen, model.names);\n    mergeNames(names, model.names);\n  }\n\n  await mkdir(path.dirname(out), { recursive: true });\n  await writeFile(out, renderRegister(moduleName, names, models, declarationsOnly), 'utf8');\n\n  return {\n    out,\n    files: [...seen].sort((a, b) => a.localeCompare(b)),\n    counts: Object.fromEntries(REGISTER_KEYS.map((key) => [key, names[key].size])) as Record<RegisterKey, number>,\n  };\n}\n\nasync function scanModel(\n  filePath: string,\n  root: string,\n  seen: Set<string>,\n  names: Record<RegisterKey, Set<string>>\n) {\n  const normalized = path.resolve(filePath);\n  if (seen.has(normalized)) return;\n  seen.add(normalized);\n\n  const xml = await readFile(normalized, 'utf8');\n  collectSimpleTagNames(xml, 'body', names.bodies);\n  collectSimpleTagNames(xml, 'joint', names.joints);\n  collectSimpleTagNames(xml, 'site', names.sites);\n  collectSimpleTagNames(xml, 'geom', names.geoms);\n  collectSimpleTagNames(xml, 'camera', names.cameras);\n  collectSimpleTagNames(xml, 'key', names.keyframes);\n  collectSectionNames(xml, 'actuator', names.actuators);\n  collectSectionNames(xml, 'sensor', names.sensors);\n\n  for (const includePath of collectIncludePaths(xml)) {\n    const next = path.resolve(path.dirname(normalized), includePath);\n    if (isPathInsideRoot(next, root)) await scanModel(next, root, seen, names);\n  }\n}\n\nfunction collectSimpleTagNames(xml: string, tag: string, target: Set<string>) {\n  const pattern = new RegExp(`<\\\\s*${tag}\\\\b([^>]*)>`, 'gi');\n  for (const match of xml.matchAll(pattern)) {\n    const name = readAttr(match[1], 'name');\n    if (name) target.add(name);\n  }\n}\n\nfunction collectSectionNames(xml: string, section: string, target: Set<string>) {\n  const sectionPattern = new RegExp(`<\\\\s*${section}\\\\b[^>]*>([\\\\s\\\\S]*?)<\\\\s*/\\\\s*${section}\\\\s*>`, 'gi');\n  for (const sectionMatch of xml.matchAll(sectionPattern)) {\n    const tagPattern = /<\\s*[a-zA-Z0-9_:-]+\\b([^>]*)>/g;\n    for (const tagMatch of sectionMatch[1].matchAll(tagPattern)) {\n      const name = readAttr(tagMatch[1], 'name');\n      if (name) target.add(name);\n    }\n  }\n}\n\nfunction collectIncludePaths(xml: string): string[] {\n  const result: string[] = [];\n  const pattern = /<\\s*include\\b([^>]*)>/gi;\n  for (const match of xml.matchAll(pattern)) {\n    const file = readAttr(match[1], 'file');\n    if (file && !file.includes('://') && !file.startsWith('/')) result.push(file);\n  }\n  return result;\n}\n\nfunction readAttr(attrs: string, attr: string): string | undefined {\n  const pattern = new RegExp(`\\\\b${attr}\\\\s*=\\\\s*(['\"])(.*?)\\\\1`, 'i');\n  return attrs.match(pattern)?.[2];\n}\n\nfunction renderRegister(\n  moduleName: string,\n  names: Record<RegisterKey, Set<string>>,\n  models: readonly ModelEntry[],\n  declarationsOnly: boolean\n): string {\n  const fields = REGISTER_KEYS\n    .filter((key) => names[key].size > 0)\n    .map((key) => `    ${key}: ${renderUnion(names[key])};`);\n  const robots = models\n    .map((model) => `      ${quoteProperty(model.id)}: {\\n${renderRobotFields(model.names)}\\n      };`);\n  const namespaceAliases = renderNamespaceAliases(models);\n  const registerImport = declarationsOnly ? '' : `import { registerRobotResources } from '${moduleName}';\\n`;\n  const resources = declarationsOnly ? '' : `${renderResourceTypes(models)}\\n\\n${renderResourceConstants(models)}\\n\\nregisterRobotResources(generatedRobotResources);\\n\\n`;\n\n  return `// Auto-generated by mujoco-react. Do not edit.\n// Regenerate by running Vite with the mujocoReact() plugin or \\`mujoco-react codegen\\`.\n\n${registerImport}import type { RobotResource } from '${moduleName}';\n\n${resources}declare module '${moduleName}' {\n  interface Register {\n    robots: {\n${robots.join('\\n')}\n    };\n${fields.join('\\n')}\n  }\n\n${namespaceAliases}\n}\n`;\n}\n\nfunction renderResourceTypes(models: readonly ModelEntry[]): string {\n  const modelTypes = models\n    .map((model) => `  readonly ${quoteProperty(model.id)}: {\\n${renderResourceTypeFields(model.names)}\\n  };`)\n    .join('\\n');\n  return `type GeneratedRobotResources = {\\n${modelTypes}\\n};`;\n}\n\nfunction renderResourceTypeFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    readonly ${key}: ${renderResourceObjectType(names[key])};`)\n    .join('\\n');\n}\n\nfunction renderResourceObjectType(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      readonly ${quoteProperty(value)}: '${escapeTs(value)}';`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderResourceConstants(models: readonly ModelEntry[]): string {\n  const entries = models\n    .map((model) => `  ${quoteProperty(model.id)}: {\\n${renderResourceConstantFields(model.names)}\\n  },`)\n    .join('\\n');\n  return `const generatedRobotResources: GeneratedRobotResources = {\\n${entries}\\n};`;\n}\n\nfunction renderResourceConstantFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `    ${key}: ${renderResourceObject(names[key])},`)\n    .join('\\n');\n}\n\nfunction renderResourceObject(values: Set<string>): string {\n  const entries = sortedValues(values)\n    .map((value) => `      ${quoteProperty(value)}: '${escapeTs(value)}',`);\n  return entries.length > 0 ? `{\\n${entries.join('\\n')}\\n    }` : '{}';\n}\n\nfunction renderRobotFields(names: Record<RegisterKey, Set<string>>): string {\n  return REGISTER_KEYS\n    .map((key) => `        ${key}: ${names[key].size > 0 ? renderUnion(names[key]) : 'never'};`)\n    .join('\\n');\n}\n\nfunction renderUnion(values: Set<string>): string {\n  return sortedValues(values).map((value) => `'${escapeTs(value)}'`).join(' | ');\n}\n\nfunction renderNamespaceAliases(models: readonly ModelEntry[]): string {\n  const namespaces: Record<RegisterKey, string> = {\n    actuators: 'RobotActuators',\n    sensors: 'RobotSensors',\n    bodies: 'RobotBodies',\n    joints: 'RobotJoints',\n    sites: 'RobotSites',\n    geoms: 'RobotGeoms',\n    keyframes: 'RobotKeyframes',\n    cameras: 'RobotCameras',\n  };\n\n  const blocks = REGISTER_KEYS\n    .map((key) => {\n      const aliases = models\n        .filter((model) => isIdentifier(model.id))\n        .map((model) => `    export type ${model.id} = RobotResource<'${escapeTs(model.id)}', '${key}'>;`);\n      if (aliases.length === 0) return '';\n      return `  export namespace ${namespaces[key]} {\\n${aliases.join('\\n')}\\n  }`;\n    })\n    .filter(Boolean)\n    .join('\\n\\n');\n\n  return blocks ? `${blocks}\\n` : '';\n}\n\nfunction escapeTs(value: string): string {\n  return value.replace(/\\\\/g, '\\\\\\\\').replace(/'/g, \"\\\\'\");\n}\n\nfunction sortedValues(values: Set<string>): string[] {\n  return [...values].sort((a, b) => a.localeCompare(b));\n}\n\nfunction quoteProperty(value: string): string {\n  return isIdentifier(value) ? value : `'${escapeTs(value)}'`;\n}\n\nfunction isIdentifier(value: string): boolean {\n  return /^[A-Za-z_$][A-Za-z0-9_$]*$/.test(value);\n}\n\nfunction toPosixPath(value: string): string {\n  return value.split(path.sep).join('/');\n}\n\nfunction shouldInjectRegisterImport(id: string, root: string, generatedRegister: string): boolean {\n  if (generatedRegister.endsWith('.d.ts')) return false;\n  const file = stripQuery(id);\n  if (!/\\.[cm]?[jt]sx?$/.test(file)) return false;\n  if (file.includes(`${path.sep}node_modules${path.sep}`)) return false;\n  const absolute = path.resolve(file);\n  if (absolute === generatedRegister) return false;\n  return isPathInsideRoot(absolute, root);\n}\n\nfunction renderGeneratedImport(id: string, generatedRegister: string): string {\n  const fromDir = path.dirname(stripQuery(id));\n  let relative = toPosixPath(path.relative(fromDir, generatedRegister));\n  if (!relative.startsWith('.')) relative = `./${relative}`;\n  return `import '${relative}';`;\n}\n\nfunction stripQuery(id: string): string {\n  return id.split('?')[0];\n}\n\nfunction normalizeModels(input: ModelInput): ModelEntry[] {\n  if (typeof input === 'string') return [createModelEntry(deriveModelId(input), input)];\n  if (Array.isArray(input)) return input.map((file) => createModelEntry(deriveModelId(file), file));\n  return Object.entries(input).map(([id, file]) => createModelEntry(sanitizeModelId(id), file));\n}\n\nfunction createModelEntry(id: string, file: string): ModelEntry {\n  return { id, file, names: createEmptyNames() };\n}\n\nfunction deriveModelId(file: string): string {\n  const normalized = file.replace(/\\\\/g, '/');\n  const parts = normalized.split('/').filter(Boolean);\n  const filename = parts.at(-1) ?? 'model';\n  const parent = parts.length > 1 ? parts.at(-2) : undefined;\n  const base = filename.replace(/\\.(xml|mjcf|urdf)$/i, '');\n  return sanitizeModelId(parent && ['scene', 'model', 'robot'].includes(base.toLowerCase()) ? parent : base);\n}\n\nfunction sanitizeModelId(value: string): string {\n  const sanitized = value.replace(/[^A-Za-z0-9_$]/g, '_').replace(/^[^A-Za-z_$]+/, '');\n  return sanitized || 'model';\n}\n\nfunction mergeNames(target: Record<RegisterKey, Set<string>>, source: Record<RegisterKey, Set<string>>) {\n  for (const key of REGISTER_KEYS) {\n    for (const value of source[key]) target[key].add(value);\n  }\n}\n\nfunction shouldRegenerate(file: string, watchedFiles: string[], models: readonly ModelEntry[], root: string): boolean {\n  const absolute = path.resolve(file);\n  if (watchedFiles.includes(absolute)) return true;\n  if (!MODEL_EXTENSIONS.has(path.extname(absolute).toLowerCase())) return false;\n  const modelDirs = models.map((model) => path.dirname(path.resolve(root, model.file)));\n  return modelDirs.some((dir) => isPathInsideRoot(absolute, dir));\n}\n\nfunction isPathInsideRoot(filePath: string, root: string): boolean {\n  const relative = path.relative(path.resolve(root), path.resolve(filePath));\n  return relative === '' || (relative !== '' && !relative.startsWith('..') && !path.isAbsolute(relative));\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "9.3.0",
+  "version": "9.5.0",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",

package/src/components/ContactMarkers.tsx

@@ -13,6 +13,7 @@ import { useFrame } from '@react-three/fiber';
 import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
 import { useMujocoContext } from '../core/MujocoSimProvider';
+import { CAPTURE_EXCLUDE_KEY } from '../rendering/cameraFrameCapture';
 import { getContact, withContacts } from '../types';
 
 const _dummy = new THREE.Object3D();
@@ -70,7 +71,13 @@ export function ContactMarkers({
   if (status !== 'ready') return null;
 
   return (
-    <group {...groupProps}>
+    <group
+      {...groupProps}
+      userData={{
+        ...groupProps.userData,
+        [CAPTURE_EXCLUDE_KEY]: true,
+      }}
+    >
       <instancedMesh ref={meshRef} args={[undefined, undefined, maxContacts]} frustumCulled={false} renderOrder={999}>
         <sphereGeometry args={[radius, 8, 8]} />
         <meshBasicMaterial color={color} depthTest={false} />

package/src/components/Debug.tsx

@@ -11,6 +11,7 @@ import type { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
 import { useMujocoContext } from '../core/MujocoSimProvider';
 import { getName } from '../core/SceneLoader';
+import { CAPTURE_EXCLUDE_KEY } from '../rendering/cameraFrameCapture';
 import { getContact, withContacts } from '../types';
 import type { DebugProps } from '../types';
 
@@ -25,9 +26,20 @@ const JOINT_COLORS: Record<number, number> = {
 const _v3a = new THREE.Vector3();
 const _v3b = new THREE.Vector3();
 const _quat = new THREE.Quaternion();
+const _cameraMatrix = new THREE.Matrix4();
 const _contactPos = new THREE.Vector3();
 const _contactNormal = new THREE.Vector3();
 const MAX_CONTACT_ARROWS = 50;
+const CAMERA_DEBUG_LENGTH = 0.12;
+const CAMERA_DEBUG_FRUSTUM_DEPTH = 0.08;
+
+type CameraDebugObject = THREE.Group & {
+  userData: {
+    cameraId: number;
+    frustum: THREE.LineSegments;
+    label?: THREE.Sprite;
+  };
+};
 
 /**
  * Declarative debug visualization component.
@@ -37,6 +49,7 @@ export function Debug({
   showGeoms = false,
   showSites = false,
   showJoints = false,
+  showCameras = false,
   showContacts = false,
   showCOM = false,
   showInertia = false,
@@ -55,6 +68,7 @@ export function Debug({
     const geoms: THREE.Object3D[] = [];
     const sites: THREE.Object3D[] = [];
     const joints: THREE.Object3D[] = [];
+    const cameras: CameraDebugObject[] = [];
     const comMarkers: THREE.Object3D[] = [];
 
     // Wireframe geoms
@@ -179,6 +193,83 @@ export function Debug({
       }
     }
 
+    if (showCameras && model.ncam && model.name_camadr) {
+      for (let i = 0; i < model.ncam; i++) {
+        const group = new THREE.Group() as CameraDebugObject;
+        group.userData.cameraId = i;
+        group.renderOrder = 999;
+        group.frustumCulled = false;
+
+        const marker = new THREE.Mesh(
+          new THREE.BoxGeometry(0.014, 0.009, 0.006),
+          new THREE.MeshBasicMaterial({ color: 0x38bdf8, depthTest: false })
+        );
+        marker.renderOrder = 999;
+        marker.frustumCulled = false;
+        group.add(marker);
+
+        const forward = new THREE.ArrowHelper(
+          new THREE.Vector3(0, 0, -1),
+          new THREE.Vector3(),
+          CAMERA_DEBUG_LENGTH,
+          0x38bdf8,
+          CAMERA_DEBUG_LENGTH * 0.24,
+          CAMERA_DEBUG_LENGTH * 0.11
+        );
+        forward.renderOrder = 999;
+        forward.frustumCulled = false;
+        forward.line.material = new THREE.LineBasicMaterial({
+          color: 0x38bdf8,
+          depthTest: false,
+        });
+        (forward.cone.material as THREE.MeshBasicMaterial).depthTest = false;
+        group.add(forward);
+
+        const frustumGeometry = new THREE.BufferGeometry();
+        frustumGeometry.setAttribute(
+          'position',
+          new THREE.Float32BufferAttribute(new Float32Array(8 * 2 * 3), 3)
+        );
+        const frustum = new THREE.LineSegments(
+          frustumGeometry,
+          new THREE.LineBasicMaterial({
+            color: 0x38bdf8,
+            transparent: true,
+            opacity: 0.8,
+            depthTest: false,
+          })
+        );
+        frustum.renderOrder = 999;
+        frustum.frustumCulled = false;
+        group.userData.frustum = frustum;
+        group.add(frustum);
+
+        const canvas = document.createElement('canvas');
+        canvas.width = 256;
+        canvas.height = 64;
+        const ctx = canvas.getContext('2d')!;
+        ctx.fillStyle = '#38bdf8';
+        ctx.font = 'bold 32px monospace';
+        ctx.textAlign = 'center';
+        ctx.fillText(getName(model, model.name_camadr[i]), 128, 42);
+        const texture = new THREE.CanvasTexture(canvas);
+        const sprite = new THREE.Sprite(
+          new THREE.SpriteMaterial({
+            map: texture,
+            depthTest: false,
+            transparent: true,
+          })
+        );
+        sprite.position.set(0, 0.014, 0.01);
+        sprite.scale.set(0.04, 0.01, 1);
+        sprite.renderOrder = 999;
+        group.userData.label = sprite;
+        group.add(sprite);
+
+        cameras.push(group);
+      }
+    }
+
     // COM markers
     if (showCOM) {
       for (let i = 1; i < model.nbody; i++) {
@@ -190,8 +281,8 @@ export function Debug({
       }
     }
 
-    return { geoms, sites, joints, comMarkers };
-  }, [status, mjModelRef, showGeoms, showSites, showJoints, showCOM]);
+    return { geoms, sites, joints, cameras, comMarkers };
+  }, [status, mjModelRef, showGeoms, showSites, showJoints, showCameras, showCOM]);
 
   // Add/remove debug objects from scene
   useEffect(() => {
@@ -202,6 +293,7 @@ export function Debug({
       ...debugGeometry.geoms,
       ...debugGeometry.sites,
       ...debugGeometry.joints,
+      ...debugGeometry.cameras,
       ...debugGeometry.comMarkers,
     ];
     for (const obj of allObjects) group.add(obj);
@@ -281,6 +373,59 @@ export function Debug({
       }
     }
 
+    const camXpos = data.cam_xpos;
+    const camXmat = data.cam_xmat;
+    if (camXpos && camXmat) {
+      for (const group of debugGeometry.cameras) {
+        const cameraId = group.userData.cameraId;
+        const i3 = cameraId * 3;
+        const i9 = cameraId * 9;
+        group.position.set(
+          camXpos[i3],
+          camXpos[i3 + 1],
+          camXpos[i3 + 2]
+        );
+        _cameraMatrix.set(
+          camXmat[i9], camXmat[i9 + 1], camXmat[i9 + 2], 0,
+          camXmat[i9 + 3], camXmat[i9 + 4], camXmat[i9 + 5], 0,
+          camXmat[i9 + 6], camXmat[i9 + 7], camXmat[i9 + 8], 0,
+          0, 0, 0, 1
+        );
+        group.quaternion.setFromRotationMatrix(_cameraMatrix);
+
+        const fovy = model.cam_fovy?.[cameraId] ?? 45;
+        const halfHeight = Math.tan(THREE.MathUtils.degToRad(fovy) / 2) *
+          CAMERA_DEBUG_FRUSTUM_DEPTH;
+        const halfWidth = halfHeight * 4 / 3;
+        const positions = group.userData.frustum.geometry.attributes.position;
+        const array = positions.array as Float32Array;
+        const points = [
+          [0, 0, 0],
+          [-halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [0, 0, 0],
+          [halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [0, 0, 0],
+          [halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [0, 0, 0],
+          [-halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [-halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [-halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [-halfWidth, -halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+          [-halfWidth, halfHeight, -CAMERA_DEBUG_FRUSTUM_DEPTH],
+        ];
+        for (let i = 0; i < points.length; i += 1) {
+          array[i * 3] = points[i][0];
+          array[i * 3 + 1] = points[i][1];
+          array[i * 3 + 2] = points[i][2];
+        }
+        positions.needsUpdate = true;
+      }
+    }
+
     // Update COM markers
     for (const mesh of debugGeometry.comMarkers) {
       const bid = mesh.userData.bodyId;
@@ -358,7 +503,13 @@ export function Debug({
   if (status !== 'ready') return null;
 
   return (
-    <group {...groupProps}>
+    <group
+      {...groupProps}
+      userData={{
+        ...groupProps.userData,
+        [CAPTURE_EXCLUDE_KEY]: true,
+      }}
+    >
       <group ref={groupRef} />
       {showContacts && <group ref={contactGroupRef} />}
     </group>

package/src/components/DragInteraction.tsx

@@ -8,6 +8,7 @@ import type { ThreeElements } from '@react-three/fiber';
 import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
 import { useMujocoContext, useBeforePhysicsStep } from '../core/MujocoSimProvider';
+import { CAPTURE_EXCLUDE_KEY } from '../rendering/cameraFrameCapture';
 import type { DragInteractionProps } from '../types';
 
 // Preallocated temps to avoid GC pressure
@@ -60,6 +61,7 @@ export function DragInteraction({
       0.1,
       0xff4444,
     );
+    arrow.userData[CAPTURE_EXCLUDE_KEY] = true;
     arrow.visible = false;
     // Make arrow semi-transparent
     (arrow.line.material as THREE.LineBasicMaterial).transparent = true;

package/src/components/IkGizmo.tsx

@@ -9,6 +9,7 @@ import { useEffect, useRef } from 'react';
 import * as THREE from 'three';
 import { useMujocoContext } from '../core/MujocoSimProvider';
 import { findSiteByName } from '../core/SceneLoader';
+import { CAPTURE_EXCLUDE_KEY } from '../rendering/cameraFrameCapture';
 import type { IkGizmoProps } from '../types';
 
 // Preallocated temps to avoid GC pressure in useFrame
@@ -83,7 +84,10 @@ export function IkGizmo({ controller, siteName, scale = 0.18, onDrag }: IkGizmoP
   if (status !== 'ready') return null;
 
   return (
-    <group ref={wrapperRef}>
+    <group
+      ref={wrapperRef}
+      userData={{ [CAPTURE_EXCLUDE_KEY]: true }}
+    >
       <PivotControls
         ref={pivotRef}
         autoTransform