mujoco-react 9.5.0 → 9.6.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (14) hide show
  1. package/dist/{chunk-6MOK6ZWB.js → chunk-4JHALVB2.js} +2 -2
  2. package/dist/chunk-4JHALVB2.js.map +1 -0
  3. package/dist/index.d.ts +16 -3
  4. package/dist/index.js +140 -4
  5. package/dist/index.js.map +1 -1
  6. package/dist/spark.d.ts +1 -1
  7. package/dist/spark.js +1 -1
  8. package/dist/{types-BDB9QT6Z.d.ts → types-C1rwH74Y.d.ts} +36 -1
  9. package/package.json +1 -1
  10. package/src/hooks/useIkController.ts +8 -1
  11. package/src/hooks/useKeyboardIkTarget.ts +170 -0
  12. package/src/index.ts +4 -0
  13. package/src/types.ts +50 -0
  14. package/dist/chunk-6MOK6ZWB.js.map +0 -1
package/dist/chunk-6MOK6ZWB.js.map DELETED
@@ -1 +0,0 @@
1
- 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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\n\n// ---- Register (type-safe named resources) ----\n\n/**\n * Module augmentation interface for type-safe resource names.\n *\n * Declare your model's resource names via module augmentation:\n * ```ts\n * declare module 'mujoco-react' {\n * interface Register {\n * robots: {\n * panda: {\n * actuators: 'joint1' | 'joint2' | 'gripper';\n * sensors: 'force_sensor' | 'torque_sensor';\n * bodies: 'link0' | 'link1' | 'hand';\n * };\n * };\n * actuators: 'joint1' | 'joint2' | 'gripper';\n * sensors: 'force_sensor' | 'torque_sensor';\n * bodies: 'link0' | 'link1' | 'hand';\n * }\n * }\n * ```\n *\n * When no augmentation is declared, all names fall back to `string`.\n */\nexport interface Register {}\n\nexport type RegisteredRobotMap = Register extends { robots: infer T extends Record<string, Record<string, string>> }\n ? T\n : never;\nexport type Robots = [RegisteredRobotMap] extends [never] ? string : Extract<keyof RegisteredRobotMap, string>;\nexport type RobotResource<TRobot extends string, TKey extends string> =\n [RegisteredRobotMap] extends [never]\n ? string\n : TRobot extends keyof RegisteredRobotMap\n ? TKey extends keyof RegisteredRobotMap[TRobot]\n ? 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Record<string, Record<RegisterResourceKey, Record<string, string>>>\n : { readonly [TRobot in Robots]: { readonly [TKey in RegisterResourceKey]: RobotResourceObject<TRobot, TKey> } };\n\ntype RuntimeRobotResources = Record<string, Record<RegisterResourceKey, Record<string, string>>>;\ntype RuntimeRobotResourceRegistration = Readonly<Record<string, Readonly<Record<RegisterResourceKey, Readonly<Record<string, string>>>>>>;\n\nconst runtimeRobotResources: RuntimeRobotResources = {};\nconst REGISTER_RESOURCE_KEYS: RegisterResourceKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\n\nfunction createEmptyRuntimeResources(): Record<RegisterResourceKey, Record<string, string>> {\n return {\n actuators: {},\n sensors: {},\n bodies: {},\n joints: {},\n sites: {},\n geoms: {},\n keyframes: {},\n cameras: {},\n };\n}\n\nexport function registerRobotResources(resources: RuntimeRobotResourceRegistration): void {\n for (const [robot, robotResources] of Object.entries(resources)) {\n const existing = runtimeRobotResources[robot] ?? createEmptyRuntimeResources();\n for (const key of REGISTER_RESOURCE_KEYS) {\n existing[key] = { ...existing[key], ...(robotResources[key] ?? {}) };\n }\n runtimeRobotResources[robot] = existing;\n }\n}\n\nfunction createResourceCategory<TKey extends RegisterResourceKey>(key: TKey): RobotResourceCategory<TKey> {\n return new Proxy({}, {\n get(_target, robot) {\n if (typeof robot !== 'string') return undefined;\n return runtimeRobotResources[robot]?.[key] ?? {};\n },\n ownKeys() {\n return Reflect.ownKeys(runtimeRobotResources);\n },\n getOwnPropertyDescriptor(_target, robot) {\n if (typeof robot !== 'string' || !(robot in runtimeRobotResources)) return undefined;\n return { enumerable: true, configurable: true };\n },\n }) as RobotResourceCategory<TKey>;\n}\n\nexport const RobotResources: RobotResourceRegistry = new Proxy(runtimeRobotResources, {\n get(target, robot) {\n if (typeof robot !== 'string') return undefined;\n return target[robot] ?? createEmptyRuntimeResources();\n },\n ownKeys(target) {\n return Reflect.ownKeys(target);\n },\n getOwnPropertyDescriptor(target, robot) {\n if (typeof robot !== 'string' || !(robot in target)) return undefined;\n return { enumerable: true, configurable: true };\n },\n}) as RobotResourceRegistry;\n\nexport const RobotActuators: RobotResourceCategory<'actuators'> = createResourceCategory('actuators');\nexport const RobotSensors: RobotResourceCategory<'sensors'> = createResourceCategory('sensors');\nexport const RobotBodies: RobotResourceCategory<'bodies'> = createResourceCategory('bodies');\nexport const RobotJoints: RobotResourceCategory<'joints'> = createResourceCategory('joints');\nexport const RobotSites: RobotResourceCategory<'sites'> = createResourceCategory('sites');\nexport const RobotGeoms: RobotResourceCategory<'geoms'> = createResourceCategory('geoms');\nexport const RobotKeyframes: RobotResourceCategory<'keyframes'> = createResourceCategory('keyframes');\nexport const RobotCameras: RobotResourceCategory<'cameras'> = createResourceCategory('cameras');\n\nexport type Actuators = Register extends { actuators: infer T extends string } ? T : string;\nexport type Sensors = Register extends { sensors: infer T extends string } ? T : string;\nexport type Bodies = Register extends { bodies: infer T extends string } ? T : string;\nexport type Joints = Register extends { joints: infer T extends string } ? T : string;\nexport type Sites = Register extends { sites: infer T extends string } ? T : string;\nexport type Geoms = Register extends { geoms: infer T extends string } ? T : string;\nexport type Keyframes = Register extends { keyframes: infer T extends string } ? T : string;\nexport type Cameras = Register extends { cameras: infer T extends string } ? 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contacts = data.contact;\n try {\n return read(contacts);\n } finally {\n contacts.delete?.();\n }\n}\n\n/**\n * Minimal interface for MuJoCo Model to avoid 'any'.\n */\nexport interface MujocoModel {\n // Counts\n nbody: number;\n ngeom: number;\n nsite: number;\n nu: number;\n njnt: number;\n nq: number;\n nv: number;\n nkey: number;\n nsensor: number;\n nsensordata: number;\n nlight: number;\n ntendon: number;\n nflex: number;\n nmesh: number;\n nmat: number;\n ncam?: number;\n\n // Name tables\n names: Int8Array;\n name_bodyadr: Int32Array;\n name_jntadr: Int32Array;\n name_geomadr: Int32Array;\n name_siteadr: Int32Array;\n name_actuatoradr: Int32Array;\n name_keyadr: Int32Array;\n name_sensoradr: Int32Array;\n name_tendonadr: Int32Array;\n name_camadr?: Int32Array;\n\n // Body\n body_mass: Float64Array;\n body_parentid: Int32Array;\n body_jntnum: Int32Array;\n body_jntadr: Int32Array;\n body_pos: Float64Array;\n body_quat: Float64Array;\n body_geomnum: Int32Array;\n body_geomadr: Int32Array;\n body_inertia: Float64Array;\n\n // Default configuration\n qpos0: Float64Array;\n\n // Joint\n jnt_qposadr: Int32Array;\n jnt_dofadr: Int32Array;\n jnt_type: Int32Array;\n jnt_range: Float64Array;\n jnt_bodyid: Int32Array;\n jnt_pos: Float64Array;\n jnt_axis: Float64Array;\n jnt_limited: Uint8Array;\n\n // Geom\n geom_group: Int32Array;\n geom_type: Int32Array;\n geom_size: Float64Array;\n geom_pos: Float64Array;\n geom_quat: Float64Array;\n geom_matid: Int32Array;\n geom_rgba: Float32Array;\n geom_dataid: Int32Array;\n geom_bodyid: Int32Array;\n geom_contype: Int32Array;\n geom_conaffinity: Int32Array;\n geom_friction: Float64Array;\n\n // Material\n mat_rgba: Float32Array;\n\n // Mesh\n mesh_vertadr: Int32Array;\n mesh_vertnum: Int32Array;\n mesh_faceadr: Int32Array;\n mesh_facenum: Int32Array;\n mesh_vert: Float32Array;\n mesh_face: Int32Array;\n mesh_normal: Float32Array;\n\n // Site\n site_bodyid: Int32Array;\n\n // Actuator\n actuator_trnid: Int32Array;\n actuator_ctrlrange: Float64Array;\n actuator_trntype: Int32Array;\n actuator_gainprm: Float64Array;\n actuator_biasprm: Float64Array;\n\n // Sensor\n sensor_type: Int32Array;\n sensor_dim: Int32Array;\n sensor_adr: Int32Array;\n sensor_objtype: Int32Array;\n sensor_objid: Int32Array;\n\n // Keyframe\n key_qpos: Float64Array;\n key_ctrl: Float64Array;\n key_time: Float64Array;\n key_qvel: Float64Array;\n\n // Light\n light_pos: Float64Array;\n light_dir: Float64Array;\n light_diffuse: Float32Array;\n light_specular: Float32Array;\n light_type: Int32Array;\n light_active: Uint8Array;\n light_castshadow: Uint8Array;\n light_attenuation: Float32Array;\n light_cutoff: Float32Array;\n light_exponent: Float32Array;\n light_intensity: Float32Array;\n\n // Camera\n cam_bodyid?: Int32Array;\n cam_pos?: Float64Array;\n cam_quat?: Float64Array;\n cam_fovy?: Float64Array;\n\n // Tendon\n ten_wrapadr: Int32Array;\n ten_wrapnum: Int32Array;\n ten_range: Float64Array;\n ten_rgba: Float32Array;\n ten_width: Float64Array;\n\n // Flex\n flex_vertadr: Int32Array;\n flex_vertnum: Int32Array;\n flex_faceadr: Int32Array;\n flex_facenum: Int32Array;\n flex_face: Int32Array;\n flex_rgba: Float32Array;\n\n // Model options\n opt: {\n timestep: number;\n gravity: Float64Array;\n integrator: number;\n [key: string]: unknown;\n };\n\n delete: () => void;\n [key: string]: unknown;\n}\n\n/**\n * Minimal interface for MuJoCo Data to avoid 'any'.\n */\nexport interface MujocoData {\n time: number;\n qpos: Float64Array;\n qvel: Float64Array;\n ctrl: Float64Array;\n act: Float64Array;\n xpos: Float64Array;\n xquat: Float64Array;\n xfrc_applied: Float64Array;\n qfrc_applied: Float64Array;\n qfrc_bias: Float64Array;\n site_xpos: Float64Array;\n site_xmat: Float64Array;\n cam_xpos?: Float64Array;\n cam_xmat?: Float64Array;\n xmat?: Float64Array;\n sensordata: Float64Array;\n ncon: number;\n contact: MujocoContactArray;\n cvel: Float64Array;\n cfrc_ext: Float64Array;\n ten_length: Float64Array;\n wrap_xpos: Float64Array;\n ten_wrapadr: Int32Array;\n flexvert_xpos: Float64Array;\n geom_xpos: Float64Array;\n geom_xmat: Float64Array;\n delete: () => void;\n [key: string]: unknown;\n}\n\n/**\n * Minimal interface for the MuJoCo WASM Module.\n */\nexport interface MujocoModule {\n MjModel: {\n from_xml_path?: (path: string) => MujocoModel;\n from_xml_string?: (xml: string, vfs?: unknown) => MujocoModel;\n loadFromXML?: (path: string) => MujocoModel;\n [key: string]: unknown;\n };\n MjData: new (model: MujocoModel) => MujocoData;\n MjvOption: new () => { delete: () => void; [key: string]: unknown };\n mj_forward: (m: MujocoModel, d: MujocoData) => void;\n mj_step: (m: MujocoModel, d: MujocoData) => void;\n mj_resetData: (m: MujocoModel, d: MujocoData) => void;\n mj_step1: (m: MujocoModel, d: MujocoData) => void;\n mj_step2: (m: MujocoModel, d: MujocoData) => void;\n mj_applyFT: (\n model: MujocoModel,\n data: MujocoData,\n force: Float64Array,\n torque: Float64Array,\n point: Float64Array,\n bodyId: number,\n qfrc_target: Float64Array\n ) => void;\n mj_ray: (\n model: MujocoModel,\n data: MujocoData,\n pnt: Float64Array,\n vec: Float64Array,\n geomgroup: Uint8Array | null,\n flg_static: number,\n bodyexclude: number,\n geomid: Int32Array\n ) => number;\n mj_name2id: (model: MujocoModel, type: number, name: string) => number;\n mjtObj: Record<string, number>;\n mjtGeom: Record<string, number | {value: number}>;\n mjtJoint: Record<string, number | {value: number}>;\n mjtSensor: Record<string, number | {value: number}>;\n FS: {\n writeFile: (path: string, content: string | Uint8Array) => void;\n readFile: (path: string, opts?: { encoding: string }) => string | Uint8Array;\n mkdir: (path: string) => void;\n unmount: (path: string) => void;\n };\n [key: string]: unknown;\n}\n\n// ---- Scene Configuration ----\n\nexport interface SceneObject {\n name: string;\n type: 'box' | 'sphere' | 'cylinder';\n size: [number, number, number];\n position: [number, number, number];\n rgba: [number, number, number, number];\n mass?: number;\n freejoint?: boolean;\n friction?: string;\n solref?: string;\n solimp?: string;\n condim?: number;\n /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n group?: number;\n}\n\nexport interface XmlPatch {\n target: string;\n inject?: string;\n injectAfter?: string;\n replace?: [string, string];\n}\n\nexport type LocalMujocoFile = File;\n\nexport interface LoadFromFilesOptions {\n /** Entry MJCF/URDF file. Inferred from scene.xml, model.xml, robot.xml, or the first XML/URDF file when omitted. */\n sceneFile?: string;\n /** Additional MJCF environment XML files merged into the entry scene before MuJoCo compilation. */\n environmentFiles?: string[];\n homeJoints?: number[];\n xmlPatches?: XmlPatch[];\n sceneObjects?: SceneObject[];\n onReset?: (input: ResetCallbackInput) => void;\n}\n\nexport interface SceneConfig {\n /** Base URL for fetching model files. The loader fetches `src + sceneFile` and follows dependencies. */\n src: string;\n /** Entry MJCF XML or URDF file name, e.g. 'scene.xml' or 'robot.urdf'. */\n sceneFile: string;\n /** Browser-selected files for local MJCF/URDF loading. Preserves webkitRelativePath when available. */\n files?: readonly LocalMujocoFile[];\n /**\n * Additional MJCF environment XML files merged into the entry scene before compilation.\n *\n * Use this for static collision/physics layers such as a Gaussian-splat\n * environment's proxy `scene.xml`; render the splat itself as a separate\n * visual layer.\n */\n environmentFiles?: string[];\n sceneObjects?: SceneObject[];\n homeJoints?: number[];\n xmlPatches?: XmlPatch[];\n onReset?: (input: ResetCallbackInput) => void;\n}\n\n// ---- IK Controller Config ----\n\nexport type ResourceSelector<TInfo, TName extends string = string> =\n | TName\n | readonly TName[]\n | RegExp\n | ((info: TInfo) => boolean);\n\nexport interface IkConfig {\n /** MuJoCo site name for IK target. */\n siteName: Sites;\n /**\n * Explicit joints for IK. When omitted, the controller infers scalar hinge/slide\n * joints by walking from the site body to the model root.\n */\n joints?: ResourceSelector<JointInfo, Joints>;\n /** Explicit actuators for IK control output. */\n actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n /**\n * Number of joints to solve for, assuming legacy contiguous qpos/ctrl layout\n * starting at index 0. Prefer inferred IK or `joints`/`actuators`.\n */\n numJoints?: number;\n /** Custom IK solver. When omitted, uses built-in Damped Least-Squares solver. */\n ikSolveFn?: IKSolveFn;\n /** DLS damping. Default: 0.01. */\n damping?: number;\n /** Max solver iterations. Default: 50. */\n maxIterations?: number;\n}\n\nexport interface IkContextValue {\n ikEnabledRef: React.RefObject<boolean>;\n ikCalculatingRef: React.RefObject<boolean>;\n ikTargetRef: React.RefObject<THREE.Group>;\n siteIdRef: React.RefObject<number>;\n setIkEnabled: (enabled: boolean) => void;\n moveTarget: (pos: THREE.Vector3, duration?: number) => void;\n syncTargetToSite: () => void;\n solveIK: (input: IkSolveInput) => number[] | null;\n getGizmoStats: () => { pos: THREE.Vector3; rot: THREE.Euler } | null;\n}\n\nexport interface SceneMarker {\n id: number;\n position: THREE.Vector3;\n label: string;\n}\n\n// ---- Physics Config (spec 1.1) ----\n\nexport interface PhysicsConfig {\n gravity?: [number, number, number];\n timestep?: number;\n substeps?: number;\n paused?: boolean;\n speed?: number;\n}\n\n// ---- IK ----\n\nexport type IKSolveFn = (\n input: IkSolveInput\n) => number[] | null;\n\nexport interface IkSolveInput {\n position: THREE.Vector3;\n quaternion: THREE.Quaternion;\n currentQ: number[];\n context?: IKSolveContext;\n}\n\nexport interface IKSolveContext {\n model: MujocoModel;\n data: MujocoData;\n siteId: number;\n controlGroup: ControlGroupInfo;\n}\n\n// ---- Callbacks ----\n\nexport interface PhysicsStepInput {\n model: MujocoModel;\n data: MujocoData;\n}\n\nexport interface ResetCallbackInput extends PhysicsStepInput {}\n\nexport interface ReadyCallbackInput {\n api: MujocoSimAPI;\n}\n\nexport interface StepCallbackInput {\n time: number;\n model: MujocoModel;\n data: MujocoData;\n}\n\nexport interface SelectionCallbackInput {\n bodyId: number;\n name: string;\n}\n\nexport type PhysicsStepCallback = (input: PhysicsStepInput) => void;\n\n// ---- State Management (spec 4.1) ----\n\nexport interface StateSnapshot {\n time: number;\n qpos: Float64Array;\n qvel: Float64Array;\n ctrl: Float64Array;\n act: Float64Array;\n qfrc_applied: Float64Array;\n}\n\n// ---- Model Introspection (spec 5.1) ----\n\nexport interface BodyInfo {\n id: number;\n name: string;\n mass: number;\n parentId: number;\n}\n\nexport interface JointInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n range: [number, number];\n limited: boolean;\n bodyId: number;\n qposAdr: number;\n dofAdr: number;\n}\n\nexport interface GeomInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n size: [number, number, number];\n bodyId: number;\n}\n\nexport interface SiteInfo {\n id: number;\n name: string;\n bodyId: number;\n}\n\nexport interface ActuatorInfo {\n id: number;\n name: string;\n range: [number, number];\n}\n\nexport interface ActuatedJointInfo extends JointInfo {\n actuatorId: number;\n actuatorName: string;\n ctrlAdr: number;\n ctrlRange: [number, number];\n}\n\nexport interface ControlJointInfo extends JointInfo {\n actuatorId: number | null;\n actuatorName: string | null;\n ctrlAdr: number | null;\n ctrlRange: [number, number] | null;\n}\n\nexport interface ControlGroupSelector {\n /** Infer a kinematic chain from a MuJoCo site. */\n siteName?: Sites;\n /** Infer a kinematic chain from a body. */\n bodyName?: Bodies;\n /** Select joints by name, names, regex, or predicate. */\n joints?: ResourceSelector<JointInfo, Joints>;\n /** Select actuators by name, names, regex, or predicate. */\n actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n}\n\nexport interface ControlGroupInfo {\n /** Joints in solve/control order. */\n joints: ControlJointInfo[];\n /** Actuators in control output order. */\n actuators: ActuatorInfo[];\n /** qpos addresses for scalar hinge/slide joints. */\n qposAdr: number[];\n /** dof addresses for scalar hinge/slide joints. */\n dofAdr: number[];\n /** ctrl addresses matching writable actuators. */\n ctrlAdr: number[];\n readQpos(data: MujocoData): Float64Array;\n readCtrl(data: MujocoData): Float64Array;\n writeQpos(data: MujocoData, values: ArrayLike<number>): void;\n writeCtrl(data: MujocoData, values: ArrayLike<number>): void;\n}\n\nexport interface SensorInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n dim: number;\n adr: number;\n}\n\nexport interface CameraInfo {\n id: number;\n name: string;\n bodyId: number;\n fov: number | null;\n position: [number, number, number] | null;\n quaternion: [number, number, number, number] | null;\n}\n\n// ---- Contacts (spec 2.4, 2.5) ----\n\nexport interface ContactInfo {\n geom1: number;\n geom1Name: string;\n geom2: number;\n geom2Name: string;\n pos: [number, number, number];\n depth: number;\n}\n\n// ---- Raycast (spec 7.1) ----\n\nexport interface RayHit {\n point: THREE.Vector3;\n bodyId: number;\n geomId: number;\n distance: number;\n}\n\n// ---- Model Options (spec 5.3) ----\n\nexport interface ModelOptions {\n timestep: number;\n gravity: [number, number, number];\n integrator: number;\n}\n\n// ---- Trajectory (spec 13.1, 13.2) ----\n\nexport interface TrajectoryFrame {\n time: number;\n qpos: Float64Array;\n qvel?: Float64Array;\n ctrl?: Float64Array;\n sensordata?: Float64Array;\n}\n\nexport interface TrajectoryData {\n frames: TrajectoryFrame[];\n fps: number;\n}\n\nexport type PlaybackState = 'idle' | 'playing' | 'paused' | 'completed';\n\n// ---- Keyboard Teleop (spec 12.1) ----\n\nexport interface KeyBinding {\n actuator: Actuators;\n delta?: number;\n toggle?: [number, number];\n set?: number;\n}\n\nexport interface KeyboardTeleopConfig {\n bindings: Record<string, KeyBinding>;\n enabled?: boolean;\n}\n\n// ---- Policy (spec 10.1) ----\n\nexport type PolicyVector = Float32Array | Float64Array | number[];\n\nexport interface PolicyObservationInput {\n model: MujocoModel;\n data: MujocoData;\n}\n\nexport interface PolicyInferenceInput extends PolicyObservationInput {\n observation: PolicyVector;\n}\n\nexport interface PolicyActionInput extends PolicyInferenceInput {\n action: PolicyVector;\n}\n\nexport interface PolicyConfig {\n frequency: number;\n enabled?: boolean;\n onObservation: (input: PolicyObservationInput) => PolicyVector;\n /** Run policy inference. Omit to pass observations directly to `onAction` for custom inline controllers. */\n infer?: (input: PolicyInferenceInput) => PolicyVector;\n onAction: (input: PolicyActionInput) => void;\n}\n\n// ---- Observation Builder ----\n\nexport type ObservationOutput = 'float32' | 'float64';\n\nexport interface ObservationConfig {\n /** Include scalar simulation time. */\n time?: boolean;\n /** Include all qpos values. */\n qpos?: boolean;\n /** Include all qvel values. */\n qvel?: boolean;\n /** Include all ctrl values. */\n ctrl?: boolean;\n /** Include all actuator activation values. */\n act?: boolean;\n /** Include all raw sensordata values. */\n sensordata?: boolean;\n /** Include named sensor values in the configured order. */\n sensors?: readonly Sensors[];\n /** Include named site world positions in the configured order. */\n sites?: readonly Sites[];\n /** Include world gravity projected into each named body's local frame. */\n projectedGravity?: Bodies | readonly Bodies[];\n /** Output array type. Defaults to Float32Array. */\n output?: ObservationOutput;\n}\n\nexport interface ObservationLayoutItem {\n name: string;\n start: number;\n size: number;\n}\n\nexport interface ObservationResult {\n values: Float32Array | Float64Array;\n layout: ObservationLayoutItem[];\n}\n\nexport interface ObservationHandle {\n /** Read a fresh observation from the current live MuJoCo model/data refs. */\n read(): ObservationResult;\n /** Read just the vector values for policy inference. */\n readValues(): Float32Array | Float64Array;\n}\n\n// ---- Debug Component (spec 6.1) ----\n\nexport interface DebugProps {\n showGeoms?: boolean;\n showSites?: boolean;\n showJoints?: boolean;\n showCameras?: boolean;\n showContacts?: boolean;\n showCOM?: boolean;\n showInertia?: boolean;\n showTendons?: boolean;\n}\n\n// ---- Component Props ----\n\nexport interface IkGizmoProps {\n controller: IkContextValue;\n siteName?: string;\n scale?: number;\n onDrag?: (input: IkGizmoDragInput) => void;\n}\n\nexport interface IkGizmoDragInput {\n position: THREE.Vector3;\n quaternion: THREE.Quaternion;\n}\n\nexport interface DragInteractionProps {\n stiffness?: number;\n showArrow?: boolean;\n}\n\nexport interface SceneLightsProps {\n /** Override intensity for all MJCF lights. Default: 1.0. */\n intensity?: number;\n}\n\n// ---- Visual scenarios / 3DGS composition ----\n\nexport type ScenarioLightingPreset = 'studio' | 'warehouse' | 'low-light' | 'splat';\nexport type SplatFormat = 'spz' | 'ply' | 'splat';\nexport type SplatRendererKind = 'spark' | 'custom';\nexport type SplatCollisionPrimitive = 'plane' | 'box' | 'sphere' | 'capsule' | 'mesh';\n\nexport interface ScenarioCameraConfig {\n jitter?: number;\n exposure?: number;\n noise?: number;\n blur?: number;\n}\n\nexport interface ScenarioMaterialConfig {\n randomizeObjectColors?: boolean;\n randomizeTableMaterial?: boolean;\n roughness?: number;\n metalness?: number;\n}\n\nexport interface SplatAssetConfig {\n src: string;\n /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n format?: SplatFormat;\n /** Optional renderer hint. The library does not import renderer-specific code. */\n renderer?: SplatRendererKind;\n}\n\nexport interface SplatScenarioConfig {\n enabled: boolean;\n /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n format?: SplatFormat;\n src?: string;\n requiresCollisionProxy?: boolean;\n collisionProxy?: SplatCollisionProxyConfig | null;\n}\n\nexport interface SplatCollisionProxyConfig {\n /** MJCF/XML file or artifact path that provides physics collision for the visual splat. */\n xmlPath?: string;\n /** Human-readable status for authoring and validation flows. */\n status?: 'missing' | 'planned' | 'generated' | 'validated';\n /** Primitive proxy shapes expected in the MJCF collision proxy. */\n primitives?: SplatCollisionPrimitive[];\n /** Optional notes that should travel with scene variants and rollout metadata. */\n notes?: string[];\n}\n\nexport interface PairedSplatEnvironmentConfig {\n id: string;\n label: string;\n description?: string;\n /** Visual-only Gaussian splat asset. */\n splat: SplatAssetConfig;\n /** Optional MJCF/XML contact geometry paired with the visual splat. */\n collisionProxy?: SplatCollisionProxyConfig & { xmlPath: string };\n}\n\nexport const SplatEnvironmentReadinessStatus = {\n Disabled: 'disabled',\n MissingSplat: 'missing-splat',\n MissingCollisionProxy: 'missing-collision-proxy',\n UnsupportedFormat: 'unsupported-format',\n Ready: 'ready',\n} as const;\n\nexport type SplatEnvironmentReadinessStatus =\n (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];\n\nexport interface SplatEnvironmentReadiness {\n status: SplatEnvironmentReadinessStatus;\n ready: boolean;\n requiresCollisionProxy: boolean;\n missing: Array<'splat' | 'collisionProxy'>;\n format?: SplatFormat;\n renderer?: SplatRendererKind;\n message: string;\n}\n\nexport interface SplatEnvironmentMetadataInput {\n environment?: PairedSplatEnvironmentConfig;\n scenario?: VisualScenarioConfig;\n renderer?: SplatRendererKind;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n}\n\nexport interface SplatEnvironmentMetadata {\n src?: string;\n format: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n readiness: SplatEnvironmentReadiness;\n userData: Record<string, unknown>;\n}\n\nexport interface ResolvedScenarioCameraConfig {\n jitter: number;\n exposure: number;\n noise: number;\n blur: number;\n}\n\nexport interface ResolvedScenarioMaterialConfig {\n randomizeObjectColors: boolean;\n randomizeTableMaterial: boolean;\n roughness?: number;\n metalness?: number;\n}\n\nexport interface VisualScenarioExecutionContext {\n scenarioId: string;\n scenarioLabel: string;\n variantId?: string;\n seed: number;\n lighting: ScenarioLightingPreset;\n environment?: string;\n camera: ResolvedScenarioCameraConfig;\n materials: ResolvedScenarioMaterialConfig;\n splatEnabled: boolean;\n splatSrc?: string;\n splatFormat: SplatFormat;\n splatRenderer?: SplatRendererKind;\n collisionProxyXmlPath?: string;\n collisionProxyStatus?: SplatCollisionProxyConfig['status'];\n collisionProxyPrimitives: SplatCollisionPrimitive[];\n readiness: SplatEnvironmentReadiness;\n transformSource: 'visualScenario.camera';\n}\n\nexport interface VisualScenarioExecutionContextInput {\n scenario?: VisualScenarioConfig;\n environment?: PairedSplatEnvironmentConfig;\n renderer?: SplatRendererKind;\n variantId?: string;\n enabled?: boolean;\n}\n\nexport type SplatSceneInput =\n | PairedSplatEnvironmentConfig\n | VisualScenarioConfig\n | undefined\n | null;\n\nexport interface SplatSceneConfigInput {\n sceneConfig: SceneConfig;\n scenario?: VisualScenarioConfig;\n environment?: PairedSplatEnvironmentConfig;\n enabled?: boolean;\n renderer?: SplatRendererKind;\n}\n\nexport interface SplatSceneConfigState {\n environment: PairedSplatEnvironmentConfig | undefined;\n sceneConfig: SceneConfig;\n enabled: boolean;\n readiness: SplatEnvironmentReadiness;\n}\n\nexport interface VisualScenarioConfig {\n id?: string;\n label?: string;\n seed?: number;\n lighting?: ScenarioLightingPreset;\n environment?: string;\n camera?: ScenarioCameraConfig;\n materials?: ScenarioMaterialConfig;\n splat?: SplatScenarioConfig | null;\n}\n\nexport interface ScenarioLightingProps {\n preset?: ScenarioLightingPreset;\n intensity?: number;\n castShadow?: boolean;\n}\n\nexport interface SplatEnvironmentProps extends Omit<ThreeElements['group'], 'ref'> {\n environment?: PairedSplatEnvironmentConfig;\n scenario?: VisualScenarioConfig;\n renderer?: SplatRendererKind;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: ReactNode;\n collisionProxyMetadata?: SplatCollisionProxyConfig;\n showPlaceholder?: boolean;\n}\n\nexport interface VisualScenarioEffectsProps {\n scenario?: VisualScenarioConfig;\n enabled?: boolean;\n applyBackground?: boolean;\n applyFog?: boolean;\n applyRenderer?: boolean;\n applyMaterials?: boolean;\n background?: THREE.ColorRepresentation;\n fogNear?: number;\n fogFar?: number;\n materialFilter?: (input: VisualScenarioMaterialFilterInput) => boolean;\n}\n\nexport interface VisualScenarioMaterialFilterInput {\n object: THREE.Object3D;\n material: THREE.Material;\n}\n\nexport type TrajectoryInput = TrajectoryFrame[] | number[][];\n\nexport interface TrajectoryPlayerProps {\n trajectory: TrajectoryInput;\n fps?: number;\n speed?: number;\n loop?: boolean;\n playing?: boolean;\n mode?: 'kinematic' | 'physics';\n onFrame?: (input: TrajectoryFrameCallbackInput) => void;\n onComplete?: () => void;\n onStateChange?: (input: TrajectoryStateChangeInput) => void;\n}\n\nexport interface TrajectoryFrameCallbackInput {\n frameIndex: number;\n frame: TrajectoryFrame | number[] | undefined;\n}\n\nexport interface TrajectoryStateChangeInput {\n state: PlaybackState;\n}\n\nexport interface SelectionHighlightProps {\n bodyId: number | null;\n color?: string;\n emissiveIntensity?: number;\n}\n\nexport interface ContactListenerProps {\n body: Bodies;\n onContactEnter?: (info: ContactInfo) => void;\n onContactExit?: (info: ContactInfo) => void;\n}\n\nexport interface BodyProps {\n name: Bodies;\n type: 'box' | 'sphere' | 'cylinder';\n size: [number, number, number];\n position?: [number, number, number];\n rgba?: [number, number, number, number];\n mass?: number;\n freejoint?: boolean;\n friction?: string;\n solref?: string;\n solimp?: string;\n condim?: number;\n /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n group?: number;\n children?: ReactNode;\n}\n\n// ---- Public API (spec: full surface) ----\n\nexport interface MujocoSimAPI {\n // State\n readonly status: 'loading' | 'ready' | 'error';\n readonly config: SceneConfig;\n\n // Simulation control (spec 1.1, 1.2, 1.3)\n reset(): void;\n setSpeed(multiplier: number): void;\n togglePause(): boolean;\n setPaused(paused: boolean): void;\n step(n?: number): void;\n getTime(): number;\n getTimestep(): number;\n applyKeyframe(nameOrIndex: Keyframes | number): void;\n\n // State management (spec 4.1, 4.2, 4.3)\n saveState(): StateSnapshot;\n restoreState(snapshot: StateSnapshot): void;\n setQpos(values: Float64Array | number[]): void;\n setQvel(values: Float64Array | number[]): void;\n getQpos(): Float64Array;\n getQvel(): Float64Array;\n\n // Actuator / control (spec 3.1)\n setCtrl(nameOrValues: Actuators | Record<Actuators, number>, value?: number): void;\n getCtrl(): Float64Array;\n getControlMap(): ControlGroupInfo;\n getActuatedJoints(): ActuatedJointInfo[];\n resolveControlGroup(selector: ControlGroupSelector): ControlGroupInfo | null;\n\n // Force application (spec 8.1)\n applyForce(bodyName: Bodies, force: THREE.Vector3, point?: THREE.Vector3): void;\n applyTorque(bodyName: Bodies, torque: THREE.Vector3): void;\n setExternalForce(bodyName: Bodies, force: THREE.Vector3, torque: THREE.Vector3): void;\n applyGeneralizedForce(values: Float64Array | number[]): void;\n\n // Sensors (spec 2.1)\n getSensorData(name: Sensors): Float64Array | null;\n\n // Contacts (spec 2.4)\n getContacts(): ContactInfo[];\n\n // Model introspection (spec 5.1, 5.2)\n getBodies(): BodyInfo[];\n getJoints(): JointInfo[];\n getGeoms(): GeomInfo[];\n getSites(): SiteInfo[];\n getActuators(): ActuatorInfo[];\n getSensors(): SensorInfo[];\n getCameras(): CameraInfo[];\n\n // Model parameters (spec 5.3)\n getModelOption(): ModelOptions;\n setGravity(g: [number, number, number]): void;\n setTimestep(dt: number): void;\n\n // Raycasting (spec 7.1)\n raycast(origin: THREE.Vector3, direction: THREE.Vector3, maxDist?: number): RayHit | null;\n\n // Keyframes (spec 4.2)\n getKeyframeNames(): string[];\n getKeyframeCount(): number;\n\n // Model loading (spec 9.1)\n loadScene(newConfig: SceneConfig): Promise<void>;\n loadFromFiles(files: FileList | readonly LocalMujocoFile[], options?: LoadFromFilesOptions): Promise<void>;\n addBody(body: SceneObject): Promise<void>;\n removeBody(name: Bodies): Promise<void>;\n recompile(patches?: XmlPatch[]): Promise<void>;\n\n // Canvas\n getCanvas(): HTMLCanvasElement | null;\n getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;\n captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;\n captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;\n captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;\n captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;\n project2DTo3D(\n x: number,\n y: number,\n cameraPos: THREE.Vector3,\n lookAt: THREE.Vector3\n ): { point: THREE.Vector3; bodyId: number; geomId: number } | null;\n\n // Domain randomization (spec 10.3)\n setBodyMass(name: Bodies, mass: number): void;\n setGeomFriction(name: Geoms, friction: [number, number, number]): void;\n setGeomSize(name: Geoms, size: [number, number, number]): void;\n\n // Internal refs for advanced use\n readonly mjModelRef: React.RefObject<MujocoModel | null>;\n readonly mjDataRef: React.RefObject<MujocoData | null>;\n}\n\nexport type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';\n\nexport type FrameCaptureTarget =\n | HTMLCanvasElement\n | HTMLElement\n | null\n | undefined;\n\nexport type FrameCaptureTargetRef =\n React.RefObject<HTMLCanvasElement | HTMLElement | null>;\n\nexport interface FrameCaptureOptions {\n target?: FrameCaptureTarget | FrameCaptureTargetRef;\n type?: string;\n quality?: number;\n waitForAnimationFrame?: boolean;\n}\n\nexport type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;\n\nexport interface FrameCaptureResult {\n canvas: HTMLCanvasElement;\n dataUrl: string;\n type: string;\n}\n\nexport interface FrameCaptureBlobResult {\n canvas: HTMLCanvasElement;\n blob: Blob;\n type: string;\n}\n\nexport interface FrameCaptureAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isCapturing: boolean;\n capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;\n captureBlob: (\n options?: FrameCaptureOptions\n ) => Promise<FrameCaptureBlobResult>;\n reset: () => void;\n}\n\nexport type CameraFrameCaptureVector3 =\n | THREE.Vector3\n | readonly [number, number, number];\n\nexport type CameraFrameCaptureQuaternion =\n | THREE.Quaternion\n | readonly [number, number, number, number];\n\nexport interface CameraFrameCaptureOptions {\n /** Existing Three camera to clone before applying pose overrides. */\n camera?: THREE.Camera;\n /** Named MuJoCo `<camera>` to render from when available in the loaded model. */\n cameraName?: Cameras;\n /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */\n siteName?: Sites;\n /** Named MuJoCo body to use as the rendered camera pose. */\n bodyName?: Bodies;\n position?: CameraFrameCaptureVector3;\n lookAt?: CameraFrameCaptureVector3;\n quaternion?: CameraFrameCaptureQuaternion;\n up?: CameraFrameCaptureVector3;\n width?: number;\n height?: number;\n type?: string;\n quality?: number;\n fov?: number;\n near?: number;\n far?: number;\n /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n source?: CameraFrameCaptureSource;\n}\n\nexport type CameraFrameCaptureSource =\n | { kind: 'mujoco-camera'; cameraName: Cameras }\n | { kind: 'mujoco-site'; siteName: Sites }\n | { kind: 'mujoco-body'; bodyName: Bodies }\n | { kind: 'custom-camera' }\n | { kind: 'explicit-pose' }\n | { kind: 'fallback-camera' };\n\nexport interface CameraFrameCaptureResult {\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n dataUrl: string;\n type: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureBlobResult {\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n blob: Blob;\n type: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isCapturing: boolean;\n capture: (\n options?: CameraFrameCaptureOptions\n ) => Promise<CameraFrameCaptureResult>;\n captureBlob: (\n options?: CameraFrameCaptureOptions\n ) => Promise<CameraFrameCaptureBlobResult>;\n reset: () => void;\n}\n\nexport interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {\n key: string;\n}\n\nexport interface CameraFrameSequenceFrame {\n frameIndex: number;\n time: number;\n cameras: Record<string, CameraFrameCaptureResult>;\n}\n\nexport interface CameraFrameSequenceCameraSummary {\n key: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n frameCount: number;\n firstFrameIndex: number | null;\n lastFrameIndex: number | null;\n firstTimestamp: number | null;\n lastTimestamp: number | null;\n}\n\nexport interface CameraFrameSequenceSampleInput extends PhysicsStepInput {\n frameIndex: number;\n time: number;\n}\n\nexport interface CameraFrameSequenceStepInput extends PhysicsStepInput {\n frameIndex: number;\n stepIndex: number;\n time: number;\n}\n\nexport interface CameraFrameSequenceOptions {\n cameras: readonly CameraFrameSequenceCamera[];\n frames: number;\n /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */\n stepsPerFrame?: number;\n reset?: boolean;\n captureInitialFrame?: boolean;\n retainFrames?: boolean;\n /**\n * Require each recorded stream to resolve from exactly one mounted MuJoCo\n * camera/site/body selector. Defaults to true because sequence recording is\n * intended for dataset/policy camera streams.\n */\n requireMountedSources?: boolean;\n signal?: AbortSignal;\n /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */\n onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;\n /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */\n onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */\n onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;\n}\n\nexport interface CameraFrameSequenceResult {\n frames: CameraFrameSequenceFrame[];\n cameraKeys: string[];\n cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;\n frameCount: number;\n}\n\nexport interface CameraFrameSequenceRecorderAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isRecording: boolean;\n record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;\n reset: () => void;\n}\n\n// ---- Canvas Props ----\n\nexport type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {\n config: SceneConfig;\n /** R3F content rendered while the MuJoCo WASM module is still loading. */\n loadingFallback?: ReactNode;\n onReady?: (input: ReadyCallbackInput) => void;\n onError?: (error: Error) => void;\n onStep?: (input: StepCallbackInput) => void;\n onSelection?: (input: SelectionCallbackInput) => void;\n // Declarative physics config (spec 1.1)\n gravity?: [number, number, number];\n timestep?: number;\n substeps?: number;\n paused?: boolean;\n speed?: number;\n interpolate?: boolean;\n};\n\n// ---- Hook Return Types ----\n\nexport interface SitePositionResult {\n position: React.RefObject<THREE.Vector3>;\n quaternion: React.RefObject<THREE.Quaternion>;\n}\n\nexport interface MujocoContextValue {\n mujoco: MujocoModule | null;\n status: 'loading' | 'ready' | 'error';\n error: string | null;\n}\n\n/** @deprecated Use `SensorHandle` instead. */\nexport interface SensorResult {\n value: React.RefObject<Float64Array>;\n size: number;\n}\n\nexport interface CtrlHandle {\n /** Read the current ctrl value. */\n read(): number;\n /** Write a ctrl value (goes directly to data.ctrl). */\n write(value: number): void;\n /** Actuator name. */\n name: Actuators;\n /** Actuator control range [min, max]. */\n range: [number, number];\n}\n\nexport interface SensorHandle {\n /** Read the current sensor data. */\n read(): Float64Array;\n /** Sensor dimensionality. */\n dim: number;\n /** Sensor name. */\n name: Sensors;\n}\n\nexport interface BodyStateResult {\n position: React.RefObject<THREE.Vector3>;\n quaternion: React.RefObject<THREE.Quaternion>;\n linearVelocity: React.RefObject<THREE.Vector3>;\n angularVelocity: React.RefObject<THREE.Vector3>;\n}\n\nexport interface JointStateResult {\n position: React.RefObject<number | Float64Array>;\n velocity: React.RefObject<number | Float64Array>;\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n *\n * Offscreen camera-frame capture for R3F/MuJoCo scenes.\n */\n\nimport * as THREE from 'three';\nimport type {\n CameraFrameCaptureBlobResult,\n CameraFrameCaptureOptions,\n CameraFrameCaptureResult,\n CameraFrameCaptureSource,\n CameraFrameCaptureVector3,\n} from '../types';\n\nexport interface CameraFrameCaptureSession {\n readonly width: number;\n readonly height: number;\n capture(options?: CameraFrameCaptureOptions): {\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n };\n captureAsync(options?: CameraFrameCaptureOptions): Promise<{\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n }>;\n captureDataUrl(options?: CameraFrameCaptureOptions): CameraFrameCaptureResult;\n captureDataUrlAsync(\n options?: CameraFrameCaptureOptions\n ): Promise<CameraFrameCaptureResult>;\n captureBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n dispose(): void;\n}\n\nexport const CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY =\n 'mujocoReactCameraFrameCaptureRender';\nexport const CAPTURE_EXCLUDE_KEY =\n 'mujoco.capture.exclude';\n\nexport type CameraFrameCaptureRenderInput = {\n renderer: THREE.WebGLRenderer;\n scene: THREE.Scene;\n camera: THREE.Camera;\n target: THREE.WebGLRenderTarget;\n width: number;\n height: number;\n};\n\nexport type CameraFrameCaptureRenderResult = {\n pixels: Uint8Array;\n width?: number;\n height?: number;\n flipY?: boolean;\n};\n\ntype CameraFrameCaptureRender = (\n input: CameraFrameCaptureRenderInput\n) =>\n | CameraFrameCaptureRenderResult\n | null\n | undefined\n | Promise<CameraFrameCaptureRenderResult | null | undefined>;\n\ntype RendererState = {\n target: THREE.WebGLRenderTarget | null;\n xrEnabled: boolean;\n viewport: THREE.Vector4;\n scissor: THREE.Vector4;\n scissorTest: boolean;\n clearColor: THREE.Color;\n clearAlpha: number;\n autoClear: boolean;\n};\n\ntype VisibilityState = {\n object: THREE.Object3D;\n visible: boolean;\n};\n\nfunction toVector3(\n value: CameraFrameCaptureVector3 | undefined,\n fallback: THREE.Vector3\n): THREE.Vector3 {\n if (!value) return fallback.clone();\n return value instanceof THREE.Vector3\n ? value.clone()\n : new THREE.Vector3(value[0], value[1], value[2]);\n}\n\nfunction applyCameraPose(\n camera: THREE.Camera,\n options: CameraFrameCaptureOptions,\n fallbackCamera: THREE.Camera\n) {\n camera.position.copy(toVector3(options.position, fallbackCamera.position));\n camera.up.copy(toVector3(options.up, fallbackCamera.up));\n\n if (options.quaternion) {\n if (options.quaternion instanceof THREE.Quaternion) {\n camera.quaternion.copy(options.quaternion);\n } else {\n camera.quaternion.set(\n options.quaternion[0],\n options.quaternion[1],\n options.quaternion[2],\n options.quaternion[3]\n );\n }\n } else if (options.lookAt) {\n camera.lookAt(toVector3(options.lookAt, new THREE.Vector3()));\n } else {\n camera.quaternion.copy(fallbackCamera.quaternion);\n }\n\n camera.updateMatrixWorld();\n}\n\nfunction createCaptureCamera(\n options: CameraFrameCaptureOptions,\n fallbackCamera: THREE.Camera,\n width: number,\n height: number\n): THREE.Camera {\n const camera = options.camera\n ? options.camera.clone()\n : fallbackCamera instanceof THREE.PerspectiveCamera\n ? fallbackCamera.clone()\n : new THREE.PerspectiveCamera(45, width / height, 0.01, 100);\n\n if (camera instanceof THREE.PerspectiveCamera) {\n camera.aspect = width / height;\n camera.fov = options.fov ?? camera.fov;\n camera.near = options.near ?? camera.near;\n camera.far = options.far ?? camera.far;\n camera.updateProjectionMatrix();\n }\n\n applyCameraPose(camera, options, fallbackCamera);\n return camera;\n}\n\nfunction getCaptureDimensions(\n renderer: THREE.WebGLRenderer,\n options: CameraFrameCaptureOptions\n) {\n const width = Math.max(\n 1,\n Math.floor(options.width ?? renderer.domElement.width)\n );\n const height = Math.max(\n 1,\n Math.floor(options.height ?? renderer.domElement.height)\n );\n return { width, height };\n}\n\nfunction prepareCaptureCamera(\n camera: THREE.Camera,\n options: CameraFrameCaptureOptions,\n fallbackCamera: THREE.Camera,\n width: number,\n height: number\n) {\n if (options.camera) {\n camera.copy(options.camera);\n }\n\n if (camera instanceof THREE.PerspectiveCamera) {\n camera.aspect = width / height;\n camera.fov = options.fov ?? camera.fov;\n camera.near = options.near ?? camera.near;\n camera.far = options.far ?? camera.far;\n camera.updateProjectionMatrix();\n }\n\n applyCameraPose(camera, options, fallbackCamera);\n}\n\nfunction readRenderTargetToCanvas(\n renderer: THREE.WebGLRenderer,\n target: THREE.WebGLRenderTarget,\n canvas: HTMLCanvasElement,\n context: CanvasRenderingContext2D,\n pixels: Uint8Array,\n imageData: ImageData,\n width: number,\n height: number,\n outputColorSpace: string\n) {\n renderer.readRenderTargetPixels(target, 0, 0, width, height, pixels);\n\n const rowBytes = width * 4;\n const encodeSrgb = outputColorSpace === THREE.SRGBColorSpace;\n for (let y = 0; y < height; y += 1) {\n const sourceStart = (height - y - 1) * rowBytes;\n const targetStart = y * rowBytes;\n const row = pixels.subarray(sourceStart, sourceStart + rowBytes);\n if (!encodeSrgb) {\n imageData.data.set(row, targetStart);\n continue;\n }\n\n for (let x = 0; x < rowBytes; x += 4) {\n const pixelOffset = targetStart + x;\n imageData.data[pixelOffset] = linearByteToSrgbByte(row[x]);\n imageData.data[pixelOffset + 1] = linearByteToSrgbByte(row[x + 1]);\n imageData.data[pixelOffset + 2] = linearByteToSrgbByte(row[x + 2]);\n imageData.data[pixelOffset + 3] = row[x + 3];\n }\n }\n context.putImageData(imageData, 0, 0);\n return canvas;\n}\n\nfunction linearByteToSrgbByte(value: number) {\n const normalized = value / 255;\n const encoded =\n normalized <= 0.0031308\n ? normalized * 12.92\n : 1.055 * Math.pow(normalized, 1 / 2.4) - 0.055;\n return Math.min(255, Math.max(0, Math.round(encoded * 255)));\n}\n\nfunction readPixelsToCanvas(\n pixels: Uint8Array,\n context: CanvasRenderingContext2D,\n imageData: ImageData,\n width: number,\n height: number,\n flipY = true\n) {\n const rowBytes = width * 4;\n for (let y = 0; y < height; y += 1) {\n const sourceY = flipY ? height - y - 1 : y;\n const sourceStart = sourceY * rowBytes;\n const targetStart = y * rowBytes;\n imageData.data.set(\n pixels.subarray(sourceStart, sourceStart + rowBytes),\n targetStart\n );\n }\n context.putImageData(imageData, 0, 0);\n}\n\nfunction hideExcludedCaptureObjects(scene: THREE.Scene): VisibilityState[] {\n const hidden: VisibilityState[] = [];\n scene.traverse((object) => {\n if (!object.visible) return;\n if (!object.userData[CAPTURE_EXCLUDE_KEY]) return;\n hidden.push({ object, visible: object.visible });\n object.visible = false;\n });\n return hidden;\n}\n\nfunction restoreObjectVisibility(hidden: VisibilityState[]) {\n for (const { object, visible } of hidden) {\n object.visible = visible;\n }\n}\n\nfunction getCameraFrameCaptureSource(\n options: CameraFrameCaptureOptions\n): CameraFrameCaptureSource {\n if (options.source) return options.source;\n if (options.cameraName) {\n return { kind: 'mujoco-camera', cameraName: options.cameraName };\n }\n if (options.siteName) {\n return { kind: 'mujoco-site', siteName: options.siteName };\n }\n if (options.bodyName) {\n return { kind: 'mujoco-body', bodyName: options.bodyName };\n }\n if (options.camera) return { kind: 'custom-camera' };\n if (options.position || options.lookAt || options.quaternion) {\n return { kind: 'explicit-pose' };\n }\n return { kind: 'fallback-camera' };\n}\n\nfunction saveRendererState(renderer: THREE.WebGLRenderer): RendererState {\n const viewport = new THREE.Vector4();\n const scissor = new THREE.Vector4();\n const clearColor = new THREE.Color();\n renderer.getViewport(viewport);\n renderer.getScissor(scissor);\n renderer.getClearColor(clearColor);\n return {\n target: renderer.getRenderTarget(),\n xrEnabled: renderer.xr.enabled,\n viewport,\n scissor,\n scissorTest: renderer.getScissorTest(),\n clearColor,\n clearAlpha: renderer.getClearAlpha(),\n autoClear: renderer.autoClear,\n };\n}\n\nfunction restoreRendererState(\n renderer: THREE.WebGLRenderer,\n state: RendererState\n) {\n renderer.setRenderTarget(state.target);\n renderer.xr.enabled = state.xrEnabled;\n renderer.setViewport(state.viewport);\n renderer.setScissor(state.scissor);\n renderer.setScissorTest(state.scissorTest);\n renderer.setClearColor(state.clearColor, state.clearAlpha);\n renderer.autoClear = state.autoClear;\n}\n\nfunction getCaptureRenderer(\n scene: THREE.Scene\n): CameraFrameCaptureRender | null {\n const renderers: CameraFrameCaptureRender[] = [];\n scene.traverse((object) => {\n if (renderers.length) return;\n const render = object.userData[\n CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY\n ] as CameraFrameCaptureRender | undefined;\n if (typeof render === 'function') renderers.push(render);\n });\n return renderers[0] ?? null;\n}\n\nexport function createCameraFrameCaptureSession(\n renderer: THREE.WebGLRenderer,\n scene: THREE.Scene,\n fallbackCamera: THREE.Camera,\n options: CameraFrameCaptureOptions = {}\n): CameraFrameCaptureSession {\n const { width, height } = getCaptureDimensions(renderer, options);\n const camera = createCaptureCamera(options, fallbackCamera, width, height);\n const target = new THREE.WebGLRenderTarget(width, height, {\n format: THREE.RGBAFormat,\n type: THREE.UnsignedByteType,\n });\n const canvas = document.createElement('canvas');\n canvas.width = width;\n canvas.height = height;\n const context = canvas.getContext('2d');\n if (!context) {\n target.dispose();\n throw new Error('Unable to create a 2D canvas for camera frame capture.');\n }\n const drawContext = context;\n\n const pixels = new Uint8Array(width * height * 4);\n const imageData = drawContext.createImageData(width, height);\n\n function resolveCaptureOptions(nextOptions: CameraFrameCaptureOptions = {}) {\n const captureOptions = { ...options, ...nextOptions };\n const nextDimensions = getCaptureDimensions(renderer, captureOptions);\n if (\n nextDimensions.width !== width ||\n nextDimensions.height !== height\n ) {\n throw new Error(\n 'Camera frame capture sessions require stable width and height.'\n );\n }\n\n prepareCaptureCamera(\n camera,\n captureOptions,\n fallbackCamera,\n width,\n height\n );\n\n return captureOptions;\n }\n\n function renderPreparedCapture(captureOptions: CameraFrameCaptureOptions) {\n const previousState = saveRendererState(renderer);\n const hidden = hideExcludedCaptureObjects(scene);\n\n scene.updateMatrixWorld(true);\n try {\n renderer.xr.enabled = false;\n renderer.setRenderTarget(target);\n renderer.setViewport(0, 0, width, height);\n renderer.setScissor(0, 0, width, height);\n renderer.setScissorTest(false);\n renderer.clear();\n renderer.render(scene, camera);\n readRenderTargetToCanvas(\n renderer,\n target,\n canvas,\n drawContext,\n pixels,\n imageData,\n width,\n height,\n renderer.outputColorSpace\n );\n return {\n canvas,\n camera,\n width,\n height,\n source: getCameraFrameCaptureSource(captureOptions),\n };\n } finally {\n restoreObjectVisibility(hidden);\n restoreRendererState(renderer, previousState);\n }\n }\n\n function capture(nextOptions: CameraFrameCaptureOptions = {}) {\n return renderPreparedCapture(resolveCaptureOptions(nextOptions));\n }\n\n async function captureAsync(nextOptions: CameraFrameCaptureOptions = {}) {\n const captureOptions = resolveCaptureOptions(nextOptions);\n scene.updateMatrixWorld(true);\n const captureRenderer = getCaptureRenderer(scene);\n if (captureRenderer) {\n const previousState = saveRendererState(renderer);\n const hidden = hideExcludedCaptureObjects(scene);\n try {\n renderer.xr.enabled = false;\n const captureResult = await captureRenderer({\n renderer,\n scene,\n camera,\n target,\n width,\n height,\n });\n if (captureResult) {\n const captureWidth = captureResult.width ?? width;\n const captureHeight = captureResult.height ?? height;\n if (captureWidth !== width || captureHeight !== height) {\n throw new Error(\n 'Camera frame capture renderer returned unexpected dimensions.'\n );\n }\n readPixelsToCanvas(\n captureResult.pixels,\n drawContext,\n imageData,\n width,\n height,\n captureResult.flipY ?? true\n );\n return {\n canvas,\n camera,\n width,\n height,\n source: getCameraFrameCaptureSource(captureOptions),\n };\n }\n } finally {\n restoreObjectVisibility(hidden);\n restoreRendererState(renderer, previousState);\n }\n }\n return renderPreparedCapture(captureOptions);\n }\n\n return {\n width,\n height,\n capture,\n captureAsync,\n captureDataUrl(nextOptions = {}) {\n const type = nextOptions.type ?? options.type ?? 'image/png';\n const result = capture(nextOptions);\n return {\n ...result,\n dataUrl: result.canvas.toDataURL(\n type,\n nextOptions.quality ?? options.quality\n ),\n type,\n };\n },\n async captureDataUrlAsync(nextOptions = {}) {\n const type = nextOptions.type ?? options.type ?? 'image/png';\n const result = await captureAsync(nextOptions);\n return {\n ...result,\n dataUrl: result.canvas.toDataURL(\n type,\n nextOptions.quality ?? options.quality\n ),\n type,\n };\n },\n async captureBlob(nextOptions = {}) {\n const type = nextOptions.type ?? options.type ?? 'image/png';\n const result = await captureAsync(nextOptions);\n const blob = await new Promise<Blob>((resolve, reject) => {\n result.canvas.toBlob(\n (nextBlob) => {\n if (nextBlob) resolve(nextBlob);\n else reject(new Error('Camera frame capture did not produce a Blob.'));\n },\n type,\n nextOptions.quality ?? options.quality\n );\n });\n return { ...result, blob, type };\n },\n dispose() {\n target.dispose();\n },\n };\n}\n\nexport function renderCameraFrameToCanvas(\n renderer: THREE.WebGLRenderer,\n scene: THREE.Scene,\n fallbackCamera: THREE.Camera,\n options: CameraFrameCaptureOptions = {}\n) {\n const session = createCameraFrameCaptureSession(\n renderer,\n scene,\n fallbackCamera,\n options\n );\n try {\n return session.capture();\n } finally {\n session.dispose();\n }\n}\n\nexport async function captureCameraFrame(\n renderer: THREE.WebGLRenderer,\n scene: THREE.Scene,\n fallbackCamera: THREE.Camera,\n options: CameraFrameCaptureOptions = {}\n): Promise<CameraFrameCaptureResult> {\n const type = options.type ?? 'image/png';\n const session = createCameraFrameCaptureSession(\n renderer,\n scene,\n fallbackCamera,\n options\n );\n try {\n const result = await session.captureAsync();\n return {\n ...result,\n dataUrl: result.canvas.toDataURL(type, options.quality),\n type,\n };\n } finally {\n session.dispose();\n }\n}\n\nexport async function captureCameraFrameBlob(\n renderer: THREE.WebGLRenderer,\n scene: THREE.Scene,\n fallbackCamera: THREE.Camera,\n options: CameraFrameCaptureOptions = {}\n): Promise<CameraFrameCaptureBlobResult> {\n const session = createCameraFrameCaptureSession(\n renderer,\n scene,\n fallbackCamera,\n options\n );\n try {\n return await session.captureBlob();\n } finally {\n session.dispose();\n }\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport type { ThreeElements } from '@react-three/fiber';\nimport type { ReactNode } from 'react';\nimport { useEffect, useMemo } from 'react';\nimport * as THREE from 'three';\nimport { SplatEnvironmentReadinessStatus } from '../types';\nimport type {\n PairedSplatEnvironmentConfig,\n ScenarioMaterialConfig,\n SceneConfig,\n SplatCollisionProxyConfig,\n SplatEnvironmentReadiness,\n SplatEnvironmentMetadata,\n SplatEnvironmentMetadataInput,\n SplatFormat,\n SplatRendererKind,\n SplatSceneConfigInput,\n SplatSceneConfigState,\n SplatSceneInput,\n ScenarioLightingPreset,\n ScenarioLightingProps,\n SplatEnvironmentProps,\n VisualScenarioConfig,\n VisualScenarioExecutionContext,\n VisualScenarioExecutionContextInput,\n VisualScenarioEffectsProps,\n} from '../types';\n\nconst DEFAULT_BACKGROUND = '#181a1f';\n\nexport function ScenarioLighting({\n preset = 'studio',\n castShadow = true,\n intensity = 1,\n}: ScenarioLightingProps) {\n if (preset === 'warehouse') {\n return (\n <>\n <ambientLight intensity={0.18 * intensity} />\n <directionalLight\n position={[3.5, -2, 5]}\n intensity={2.2 * intensity}\n castShadow={castShadow}\n />\n <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />\n </>\n );\n }\n\n if (preset === 'low-light') {\n return (\n <>\n <ambientLight intensity={0.08 * intensity} />\n <directionalLight\n position={[2, -2, 3]}\n intensity={0.75 * intensity}\n castShadow={castShadow}\n />\n <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />\n </>\n );\n }\n\n if (preset === 'splat') {\n return (\n <>\n <ambientLight intensity={0.42 * intensity} />\n <directionalLight\n position={[1.8, -2.4, 3.5]}\n intensity={1.2 * intensity}\n castShadow={castShadow}\n />\n <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />\n </>\n );\n }\n\n return (\n <>\n <ambientLight intensity={0.35 * intensity} />\n <directionalLight\n position={[2.5, -3, 4]}\n intensity={1.6 * intensity}\n castShadow={castShadow}\n />\n </>\n );\n}\n\nexport function getScenarioBackground(\n preset: ScenarioLightingPreset | undefined,\n fallback = DEFAULT_BACKGROUND\n) {\n if (preset === 'warehouse') return '#20242b';\n if (preset === 'low-light') return '#0f1115';\n if (preset === 'splat') return '#1b1f24';\n return fallback;\n}\n\nexport function getScenarioCameraPosition(\n basePosition: readonly [number, number, number],\n scenario?: Pick<VisualScenarioConfig, 'camera'>\n): [number, number, number] {\n const [x, y, z] = basePosition;\n const jitter = scenario?.camera?.jitter ?? 0;\n\n return [\n Number((x + jitter * 0.6).toFixed(3)),\n Number((y - jitter * 0.4).toFixed(3)),\n Number((z + jitter * 0.25).toFixed(3)),\n ];\n}\n\nexport function useVisualScenarioExecutionContext({\n scenario,\n environment,\n renderer,\n variantId,\n enabled,\n}: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext {\n return useMemo(\n () =>\n createVisualScenarioExecutionContext({\n scenario,\n environment,\n renderer,\n variantId,\n enabled,\n }),\n [enabled, environment, renderer, scenario, variantId]\n );\n}\n\nexport function createVisualScenarioExecutionContext({\n scenario,\n environment,\n renderer,\n variantId,\n enabled = true,\n}: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext {\n const pairedEnvironment =\n environment ??\n (scenario ? createPairedSplatEnvironment(scenario, { renderer }) : undefined);\n const splat = scenario?.splat;\n const collisionProxy =\n pairedEnvironment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n const readiness = getSplatEnvironmentReadiness({\n environment: pairedEnvironment,\n scenario,\n renderer,\n enabled,\n });\n const format =\n pairedEnvironment?.splat.format ?? splat?.format ?? readiness.format ?? 'spz';\n\n return {\n scenarioId: scenario?.id ?? pairedEnvironment?.id ?? 'visual-scenario',\n scenarioLabel:\n scenario?.label ?? pairedEnvironment?.label ?? 'Visual scenario',\n variantId,\n seed: scenario?.seed ?? 0,\n lighting: scenario?.lighting ?? 'studio',\n environment: scenario?.environment,\n camera: {\n jitter: scenario?.camera?.jitter ?? 0,\n exposure: scenario?.camera?.exposure ?? 1,\n noise: scenario?.camera?.noise ?? 0,\n blur: scenario?.camera?.blur ?? 0,\n },\n materials: {\n randomizeObjectColors: Boolean(\n scenario?.materials?.randomizeObjectColors\n ),\n randomizeTableMaterial: Boolean(\n scenario?.materials?.randomizeTableMaterial\n ),\n roughness: scenario?.materials?.roughness,\n metalness: scenario?.materials?.metalness,\n },\n splatEnabled: Boolean(splat?.enabled || pairedEnvironment),\n splatSrc: pairedEnvironment?.splat.src ?? splat?.src,\n splatFormat: format,\n splatRenderer: renderer ?? pairedEnvironment?.splat.renderer,\n collisionProxyXmlPath: collisionProxy?.xmlPath,\n collisionProxyStatus: collisionProxy?.status,\n collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n readiness,\n transformSource: 'visualScenario.camera',\n };\n}\n\nexport function VisualScenarioEffects(props: VisualScenarioEffectsProps) {\n useVisualScenarioEffects(props);\n return null;\n}\n\nexport function useVisualScenarioEffects({\n scenario,\n enabled = true,\n applyBackground = true,\n applyFog = true,\n applyRenderer = true,\n applyMaterials = true,\n background,\n fogNear,\n fogFar,\n materialFilter,\n}: VisualScenarioEffectsProps) {\n const { gl, scene, invalidate } = useThree();\n\n useEffect(() => {\n if (!enabled || !scenario) {\n return undefined;\n }\n\n const previousExposure = gl.toneMappingExposure;\n const previousBackground = scene.background;\n const previousFog = scene.fog;\n const materialSnapshots = new Map<\n THREE.Material,\n {\n color?: THREE.Color;\n roughness?: number;\n metalness?: number;\n }\n >();\n\n if (applyRenderer) {\n gl.toneMappingExposure = scenario.camera?.exposure ?? 1;\n }\n\n if (applyBackground) {\n scene.background = new THREE.Color(\n background ?? getScenarioBackground(scenario.lighting)\n );\n }\n\n if (applyFog) {\n scene.fog = createScenarioFog(scenario, background, fogNear, fogFar);\n }\n\n if (applyMaterials && scenario.materials) {\n applyScenarioMaterials(scene, scenario, materialSnapshots, materialFilter);\n }\n\n invalidate();\n\n return () => {\n gl.toneMappingExposure = previousExposure;\n scene.background = previousBackground;\n scene.fog = previousFog;\n\n for (const [material, snapshot] of materialSnapshots) {\n const mutable = getMutableScenarioMaterial(material);\n if (!mutable) continue;\n if (snapshot.color) mutable.color.copy(snapshot.color);\n if (typeof snapshot.roughness === 'number') {\n mutable.roughness = snapshot.roughness;\n }\n if (typeof snapshot.metalness === 'number') {\n mutable.metalness = snapshot.metalness;\n }\n mutable.needsUpdate = true;\n }\n\n invalidate();\n };\n }, [\n applyBackground,\n applyFog,\n applyMaterials,\n applyRenderer,\n background,\n enabled,\n fogFar,\n fogNear,\n gl,\n invalidate,\n materialFilter,\n scenario,\n scene,\n ]);\n}\n\n/**\n * Renderer-agnostic Gaussian splat environment boundary.\n *\n * This component intentionally does not import a specific 3DGS renderer. Pass a\n * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,\n * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.\n */\nexport function SplatEnvironment({\n environment,\n scenario,\n renderer,\n src,\n format,\n collisionProxy,\n collisionProxyMetadata,\n children,\n showPlaceholder = true,\n ...groupProps\n}: SplatEnvironmentProps) {\n const metadata = useSplatEnvironment({\n environment,\n scenario,\n renderer,\n src,\n format,\n collisionProxy: collisionProxyMetadata,\n });\n const existingUserData =\n typeof groupProps.userData === 'object' && groupProps.userData !== null\n ? groupProps.userData\n : {};\n\n return (\n <group\n {...groupProps}\n userData={{\n ...existingUserData,\n ...metadata.userData,\n }}\n >\n {children}\n {children || !showPlaceholder ? null : <SplatPlaceholder />}\n {collisionProxy}\n </group>\n );\n}\n\nexport function useSplatEnvironment({\n environment,\n scenario,\n renderer,\n src,\n format,\n collisionProxy,\n}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {\n const scenarioEnvironment = useMemo(\n () =>\n environment ??\n (scenario\n ? createPairedSplatEnvironment(scenario, { renderer })\n : undefined),\n [environment, renderer, scenario]\n );\n const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;\n const resolvedFormat =\n format ??\n scenarioEnvironment?.splat.format ??\n scenario?.splat?.format ??\n 'spz';\n const resolvedCollisionProxy =\n collisionProxy ??\n scenarioEnvironment?.collisionProxy ??\n scenario?.splat?.collisionProxy ??\n undefined;\n const readiness = useMemo(\n () =>\n getSplatEnvironmentReadiness({\n environment: scenarioEnvironment,\n scenario,\n renderer,\n src: resolvedSrc,\n format: resolvedFormat,\n collisionProxy: resolvedCollisionProxy,\n }),\n [\n collisionProxy,\n renderer,\n resolvedCollisionProxy,\n resolvedFormat,\n resolvedSrc,\n scenario,\n scenarioEnvironment,\n ]\n );\n\n return useMemo(\n () => ({\n src: resolvedSrc,\n format: resolvedFormat,\n collisionProxy: resolvedCollisionProxy,\n readiness,\n userData: createSplatEnvironmentUserData({\n environment: scenarioEnvironment,\n src: resolvedSrc,\n format: resolvedFormat,\n collisionProxy: resolvedCollisionProxy,\n readiness,\n }),\n }),\n [\n scenarioEnvironment,\n resolvedSrc,\n resolvedFormat,\n resolvedCollisionProxy,\n readiness,\n ]\n );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment and compose its MJCF\n * collision proxy into a MuJoCo scene config.\n *\n * This hook is renderer-agnostic: apps can use it with Spark, another 3DGS\n * renderer, or their own Three scene objects while keeping physics collision\n * files paired with the visual splat metadata.\n */\nexport function useSplatSceneConfig({\n sceneConfig,\n scenario,\n environment,\n enabled = true,\n renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n return useMemo(\n () =>\n createSplatSceneConfig({\n sceneConfig,\n scenario,\n environment,\n enabled,\n renderer,\n }),\n [enabled, environment, renderer, scenario, sceneConfig]\n );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment without requiring React.\n *\n * Use this in codegen, import validators, backend handoff metadata, or app code\n * that needs the same behavior as `useSplatSceneConfig` outside a component.\n */\nexport function createSplatSceneConfig({\n sceneConfig,\n scenario,\n environment,\n enabled = true,\n renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n const resolvedEnvironment = enabled\n ? environment ??\n (scenario\n ? createPairedSplatEnvironment(scenario, { renderer })\n : undefined)\n : undefined;\n const readiness = getSplatEnvironmentReadiness({\n environment: resolvedEnvironment,\n scenario,\n renderer,\n enabled,\n });\n const resolvedSceneConfig = resolvedEnvironment\n ? withSplatEnvironment(sceneConfig, resolvedEnvironment, { renderer })\n : sceneConfig;\n\n return {\n environment: resolvedEnvironment,\n sceneConfig: resolvedSceneConfig,\n enabled:\n enabled && readiness.status !== SplatEnvironmentReadinessStatus.Disabled,\n readiness,\n };\n}\n\nexport function getSplatEnvironmentReadiness({\n environment,\n scenario,\n renderer,\n src,\n format,\n collisionProxy,\n enabled = true,\n}: {\n environment?: PairedSplatEnvironmentConfig;\n scenario?: Pick<VisualScenarioConfig, 'splat'>;\n renderer?: SplatRendererKind;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n enabled?: boolean;\n}): SplatEnvironmentReadiness {\n const splat = scenario?.splat;\n const resolvedSrc = src ?? environment?.splat.src ?? splat?.src;\n const resolvedFormat =\n format ?? environment?.splat.format ?? splat?.format ?? 'spz';\n const resolvedRenderer = renderer ?? environment?.splat.renderer;\n const resolvedCollisionProxy =\n collisionProxy ?? environment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n const requiresCollisionProxy = splat?.requiresCollisionProxy ?? true;\n\n if (!enabled || (splat && splat.enabled === false && !environment)) {\n return {\n status: SplatEnvironmentReadinessStatus.Disabled,\n ready: false,\n requiresCollisionProxy,\n missing: [],\n format: resolvedFormat,\n renderer: resolvedRenderer,\n message: 'Splat environment is disabled.',\n };\n }\n\n if (!resolvedSrc) {\n return {\n status: SplatEnvironmentReadinessStatus.MissingSplat,\n ready: false,\n requiresCollisionProxy,\n missing: ['splat'],\n format: resolvedFormat,\n renderer: resolvedRenderer,\n message: 'Splat environment is missing a visual asset source.',\n };\n }\n\n if (resolvedRenderer === 'spark' && resolvedFormat !== 'spz') {\n return {\n status: SplatEnvironmentReadinessStatus.UnsupportedFormat,\n ready: false,\n requiresCollisionProxy,\n missing: [],\n format: resolvedFormat,\n renderer: resolvedRenderer,\n message: `Spark splat rendering requires .spz assets; received ${resolvedFormat}.`,\n };\n }\n\n if (requiresCollisionProxy && !resolvedCollisionProxy?.xmlPath) {\n return {\n status: SplatEnvironmentReadinessStatus.MissingCollisionProxy,\n ready: false,\n requiresCollisionProxy,\n missing: ['collisionProxy'],\n format: resolvedFormat,\n renderer: resolvedRenderer,\n message: 'Splat environment is missing paired MJCF collision proxy XML.',\n };\n }\n\n return {\n status: SplatEnvironmentReadinessStatus.Ready,\n ready: true,\n requiresCollisionProxy,\n missing: [],\n format: resolvedFormat,\n renderer: resolvedRenderer,\n message: requiresCollisionProxy\n ? 'Splat environment has visual asset and collision proxy metadata.'\n : 'Splat environment has a visual asset and does not require collision proxy metadata.',\n };\n}\n\n/**\n * Convert a generic visual scenario splat block into a composable splat\n * environment config. Visual-only splats are valid; readiness reports whether\n * a paired MJCF collision proxy is required before training/physics handoff.\n */\nexport function createPairedSplatEnvironment(\n scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>,\n options: {\n id?: string;\n label?: string;\n description?: string;\n renderer?: SplatRendererKind;\n } = {}\n): PairedSplatEnvironmentConfig | undefined {\n const splat = scenario.splat;\n const collisionProxy = splat?.collisionProxy;\n\n if (!splat?.enabled || !splat.src) {\n return undefined;\n }\n\n return {\n id: options.id ?? scenario.id ?? 'splat-environment',\n label: options.label ?? scenario.label ?? 'Gaussian splat environment',\n description:\n options.description ??\n (scenario.environment\n ? `Visual ${scenario.environment} splat paired with MJCF collision proxy.`\n : undefined),\n splat: {\n src: splat.src,\n format: splat.format ?? 'spz',\n renderer: options.renderer,\n },\n collisionProxy: collisionProxy?.xmlPath\n ? {\n ...collisionProxy,\n xmlPath: collisionProxy.xmlPath,\n }\n : undefined,\n };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n return (\n !!input &&\n 'splat' in input &&\n !!input.splat &&\n !('enabled' in input.splat)\n );\n}\n\nfunction sceneRelativePath(sceneConfig: SceneConfig, path: string): string {\n const src = sceneConfig.src;\n if (!src) return path;\n\n const base = src.endsWith('/') ? src : src + '/';\n if (path.startsWith(base)) return path.slice(base.length);\n return path;\n}\n\nfunction uniquePaths(paths: readonly string[]): string[] {\n const seen = new Set<string>();\n const result: string[] = [];\n for (const path of paths) {\n if (seen.has(path)) continue;\n seen.add(path);\n result.push(path);\n }\n return result;\n}\n\n/**\n * Compose a MuJoCo scene config with a paired splat collision proxy.\n *\n * This keeps the common hybrid setup declarative:\n * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and\n * the paired MJCF collision proxy is added to `environmentFiles`.\n */\nexport function withSplatEnvironment(\n sceneConfig: SceneConfig,\n input: SplatSceneInput,\n options: { renderer?: SplatRendererKind } = {}\n): SceneConfig {\n const environment = isPairedSplatEnvironment(input)\n ? input\n : input\n ? createPairedSplatEnvironment(input, options)\n : undefined;\n const xmlPath = environment?.collisionProxy?.xmlPath;\n if (!xmlPath) return sceneConfig;\n\n return {\n ...sceneConfig,\n environmentFiles: uniquePaths([\n ...(sceneConfig.environmentFiles ?? []),\n sceneRelativePath(sceneConfig, xmlPath),\n ]),\n };\n}\n\nexport function createSplatEnvironmentUserData({\n environment,\n src,\n format = 'spz',\n collisionProxy,\n readiness,\n}: {\n environment?: PairedSplatEnvironmentConfig;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n readiness?: SplatEnvironmentReadiness;\n}) {\n return {\n role: 'splat-environment',\n environmentId: environment?.id,\n environmentLabel: environment?.label,\n splatSrc: src,\n splatFormat: format,\n splatRenderer: environment?.splat.renderer,\n collisionProxyStatus: collisionProxy?.status ?? 'missing',\n collisionProxyXmlPath: collisionProxy?.xmlPath,\n collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n readinessStatus: readiness?.status,\n readinessMessage: readiness?.message,\n };\n}\n\nexport function createSparkSplatViewerUrl({\n viewerUrl,\n splatSrc,\n}: {\n viewerUrl: string;\n splatSrc: string;\n}) {\n const url = new URL(viewerUrl, 'http://mujoco-react.local');\n url.searchParams.set('splat', splatSrc);\n return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;\n}\n\nfunction SplatPlaceholder() {\n return (\n <group>\n <mesh position={[0, 0, 1.2]}>\n <boxGeometry args={[2.4, 2.4, 2.4]} />\n <meshBasicMaterial\n color=\"#8b8b8b\"\n transparent\n opacity={0.06}\n wireframe\n side={THREE.DoubleSide}\n />\n </mesh>\n </group>\n );\n}\n\nfunction createScenarioFog(\n scenario: VisualScenarioConfig,\n background: THREE.ColorRepresentation | undefined,\n fogNear: number | undefined,\n fogFar: number | undefined\n) {\n if (scenario.lighting === 'low-light') {\n return new THREE.Fog(\n background ?? getScenarioBackground(scenario.lighting),\n fogNear ?? 2.5,\n fogFar ?? 9\n );\n }\n\n if (scenario.lighting === 'warehouse') {\n return new THREE.Fog(\n background ?? getScenarioBackground(scenario.lighting),\n fogNear ?? 5,\n fogFar ?? 16\n );\n }\n\n return null;\n}\n\nfunction applyScenarioMaterials(\n scene: THREE.Scene,\n scenario: VisualScenarioConfig,\n snapshots: Map<\n THREE.Material,\n {\n color?: THREE.Color;\n roughness?: number;\n metalness?: number;\n }\n >,\n materialFilter: VisualScenarioEffectsProps['materialFilter']\n) {\n const materials = scenario.materials;\n if (!materials) return;\n\n scene.traverse((object) => {\n if (!(object instanceof THREE.Mesh)) {\n return;\n }\n\n for (const material of normalizeMaterials(object.material)) {\n const mutable = getMutableScenarioMaterial(material);\n if (!mutable) continue;\n if (materialFilter && !materialFilter({ object, material })) continue;\n\n if (!snapshots.has(material)) {\n snapshots.set(material, {\n color: mutable.color.clone(),\n roughness: mutable.roughness,\n metalness: mutable.metalness,\n });\n }\n\n applyScenarioMaterial(mutable, object, scenario, materials);\n }\n });\n}\n\nfunction applyScenarioMaterial(\n material: THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial,\n object: THREE.Object3D,\n scenario: VisualScenarioConfig,\n materials: ScenarioMaterialConfig\n) {\n const seed = scenario.seed ?? 0;\n const objectKey = `${scenario.id ?? 'scenario'}:${object.name}:${material.name}:${seed}`;\n const variation = hashToUnitInterval(objectKey);\n\n if (materials.randomizeObjectColors) {\n material.color.setHSL(variation, 0.38, 0.42);\n }\n\n if (materials.randomizeTableMaterial) {\n material.roughness = clamp01(\n materials.roughness ?? 0.35 + variation * 0.45\n );\n material.metalness = clamp01(\n materials.metalness ?? variation * 0.12\n );\n }\n\n material.needsUpdate = true;\n}\n\nfunction normalizeMaterials(\n material: THREE.Material | THREE.Material[]\n): THREE.Material[] {\n return Array.isArray(material) ? material : [material];\n}\n\nfunction getMutableScenarioMaterial(\n material: THREE.Material\n): THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial | null {\n if (\n material instanceof THREE.MeshStandardMaterial ||\n material instanceof THREE.MeshPhysicalMaterial\n ) {\n return material;\n }\n\n return null;\n}\n\nfunction hashToUnitInterval(value: string) {\n let hash = 2166136261;\n for (let index = 0; index < value.length; index += 1) {\n hash ^= value.charCodeAt(index);\n hash = Math.imul(hash, 16777619);\n }\n return (hash >>> 0) / 4294967295;\n}\n\nfunction clamp01(value: number) {\n return Math.max(0, Math.min(1, value));\n}\n\nexport type SplatCollisionProxy = ReactNode | ThreeElements['group'];\n"]}