mujoco-react 10.0.0 → 10.1.0

package/dist/index.d.ts

@@ -1,7 +1,8 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
-import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, P as PhysicsStepCallback, f as MujocoModel, g as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, h as ControlGroupSelector, O as ObservationConfig, i as ObservationResult, I as IkConfig, j as IkContextValue, B as BodyProps, k as IkGizmoProps, D as DragInteractionProps, l as SceneLightsProps, m as ScenarioLightingProps, n as SplatEnvironmentProps, V as VisualScenarioEffectsProps, o as VisualScenarioConfig, p as SplatRendererKind, q as PairedSplatEnvironmentConfig, r as SplatFormat, s as SplatCollisionProxyConfig, t as SplatEnvironmentReadiness, u as SplatCollisionPrimitive, v as SplatEnvironmentReadinessStatus, w as SplatSceneConfigInput, x as SplatSceneConfigState, y as VisualScenarioExecutionContextInput, z as VisualScenarioExecutionContext, E as ScenarioLightingPreset, F as SplatEnvironmentMetadataInput, G as SplatEnvironmentMetadata, H as SplatSceneInput, J as DebugProps, K as GeomInfo, L as ContactListenerProps, T as TrajectoryPlayerProps, N as ActuatorInfo, Q as Sites, U as SitePositionResult, W as Sensors, X as SensorHandle, Y as SensorInfo, Z as Joints, _ as ScalarJointStateResult, $ as ArrayJointStateResult, a0 as JointStateOptions, a1 as JointStateResult, a2 as Bodies, a3 as BodyStateResult, a4 as Actuators, a5 as CtrlHandle, a6 as ContactInfo, a7 as KeyboardTeleopConfig, a8 as KeyboardIkTargetConfig, a9 as PolicyConfig, aa as PolicyVector, ab as ObservationHandle, ac as TrajectoryInput, ad as TrajectoryStateChangeInput, ae as PlaybackState, af as TrajectoryFrame, ag as FrameCaptureOptions, ah as FrameCaptureResult, ai as FrameCaptureBlobResult, aj as FrameCaptureAPI, ak as CameraFrameCaptureOptions, al as CameraFrameCaptureAPI, am as CameraFrameSequenceRecorderAPI, an as Cameras, ao as CameraFrameSequenceCamera, ap as CameraFrameCaptureSource, aq as CameraFrameSequenceOptions, ar as CameraFrameSequenceResult, as as CameraFrameCaptureResult, at as CameraFrameCaptureBlobResult } from './types-BaSMqJHT.js';
-export { au as BodyInfo, av as CameraFrameCaptureQuaternion, aw as CameraFrameCaptureVector3, ax as CameraFrameSequenceCameraSummary, ay as CameraFrameSequenceFrame, az as CameraFrameSequenceSampleInput, aA as CameraFrameSequenceStepInput, aB as CameraInfo, aC as ControlJointInfo, aD as FrameCaptureStatus, aE as FrameCaptureTarget, aF as FrameCaptureTargetRef, aG as Geoms, aH as IKSolveFn, aI as IkGizmoDragInput, aJ as IkSolveInput, aK as JointInfo, aL as JointStateKind, aM as KeyBinding, aN as KeyboardIkTargetAction, aO as KeyboardIkTargetBinding, aP as Keyframes, aQ as ModelActuators, aR as ModelBodies, aS as ModelCameras, aT as ModelGeoms, aU as ModelJoints, aV as ModelKeyframes, aW as ModelOptions, aX as ModelResource, aY as ModelResources, aZ as ModelSensors, a_ as ModelSites, a$ as Models, b0 as MujocoContact, b1 as MujocoContactArray, b2 as MujocoFrameCaptureOptions, b3 as ObservationLayoutItem, b4 as ObservationOutput, b5 as PhysicsConfig, b6 as PhysicsStepInput, b7 as PolicyActionInput, b8 as PolicyInferenceInput, b9 as PolicyObservationInput, ba as RayHit, bb as Register, bc as RegisteredModelMap, bd as ResetCallbackInput, be as ResolvedScenarioCameraConfig, bf as ResolvedScenarioMaterialConfig, bg as ResourceSelector, bh as ScenarioCameraConfig, bi as ScenarioMaterialConfig, bj as SceneMarker, bk as SceneObject, bl as SensorResult, bm as SiteInfo, bn as SplatAssetConfig, bo as SplatScenarioConfig, bp as StateSnapshot, bq as TrajectoryData, br as TrajectoryFrameCallbackInput, bs as VisualScenarioMaterialFilterInput, bt as XmlPatch, bu as getContact, bv as registerModelResources } from './types-BaSMqJHT.js';
+import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, P as PhysicsStepCallback, f as MujocoModel, g as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, h as ControlGroupSelector, O as ObservationConfig, i as ObservationResult, I as IkConfig, j as IkContextValue, B as BodyProps, k as IkGizmoProps, D as DragInteractionProps, l as SceneLightsProps, m as ScenarioLightingProps, n as SplatEnvironmentProps, V as VisualScenarioEffectsProps, o as VisualScenarioConfig, p as SplatRendererKind, q as PairedSplatEnvironmentConfig, r as SplatFormat, s as SplatCollisionProxyConfig, t as SplatEnvironmentReadiness, u as SplatCollisionPrimitive, v as SplatEnvironmentReadinessStatus, w as SplatSceneConfigInput, x as SplatSceneConfigState, y as VisualScenarioExecutionContextInput, z as VisualScenarioExecutionContext, E as ScenarioLightingPreset, F as SplatEnvironmentMetadataInput, G as SplatEnvironmentMetadata, H as SplatSceneInput, J as DebugProps, K as GeomInfo, L as ContactListenerProps, T as TrajectoryPlayerProps, N as ActuatorInfo, Q as Sites, U as SitePositionResult, W as Sensors, X as SensorHandle, Y as SensorInfo, Z as Joints, _ as ScalarJointStateResult, $ as ArrayJointStateResult, a0 as JointStateOptions, a1 as JointStateResult, a2 as Bodies, a3 as BodyStateResult, a4 as Geoms, a5 as Actuators, a6 as CtrlHandle, a7 as ContactInfo, a8 as KeyboardTeleopConfig, a9 as KeyboardIkTargetConfig, aa as PolicyConfig, ab as PolicyAPI, ac as RemotePolicyConfig, ad as RemotePolicyAPI, ae as ObservationHandle, af as ObservationOutput, ag as TrajectoryInput, ah as TrajectoryStateChangeInput, ai as PlaybackState, aj as TrajectoryFrame, ak as FrameCaptureOptions, al as FrameCaptureResult, am as FrameCaptureBlobResult, an as FrameCaptureAPI, ao as CameraFrameCaptureOptions, ap as CameraFrameCaptureAPI, aq as Cameras, ar as CameraFrameSequenceCamera, as as CameraFrameCaptureSource, at as CameraFrameSequenceOptions, au as CameraFrameSequenceResult, av as PolicyCameraFrameStream, aw as PolicyCameraFrameCaptureOptions, ax as PolicyCameraFrameCaptureResult, ay as FrameCaptureStatus, az as PolicyCameraFrameCaptureAPI, aA as CameraFrameSequenceRecorderAPI, aB as CameraFrameCaptureResult, aC as CameraFrameCaptureBlobResult, aD as PolicyVector } from './types-BHBNJubg.js';
+export { aE as BodyInfo, aF as CameraFrameCaptureQuaternion, aG as CameraFrameCaptureVector3, aH as CameraFrameSequenceCameraSummary, aI as CameraFrameSequenceFrame, aJ as CameraFrameSequenceSampleInput, aK as CameraFrameSequenceStepInput, aL as CameraInfo, aM as ControlJointInfo, aN as FrameCaptureTarget, aO as FrameCaptureTargetRef, aP as IKSolveFn, aQ as IkGizmoDragInput, aR as IkSolveInput, aS as JointInfo, aT as JointStateKind, aU as KeyBinding, aV as KeyboardIkTargetAction, aW as KeyboardIkTargetBinding, aX as Keyframes, aY as ModelActuators, aZ as ModelBodies, a_ as ModelCameras, a$ as ModelGeoms, b0 as ModelJoints, b1 as ModelKeyframes, b2 as ModelOptions, b3 as ModelResource, b4 as ModelResources, b5 as ModelSensors, b6 as ModelSites, b7 as Models, b8 as MujocoContact, b9 as MujocoContactArray, ba as MujocoFrameCaptureOptions, bb as ObservationLayoutItem, bc as PhysicsConfig, bd as PhysicsStepInput, be as PolicyActionChunk, bf as PolicyActionInput, bg as PolicyInferenceInput, bh as PolicyInferenceOutput, bi as PolicyInferenceResult, bj as PolicyObservationInput, bk as RayHit, bl as Register, bm as RegisteredModelMap, bn as RemotePolicyRequestInfo, bo as RemotePolicyRequestInput, bp as RemotePolicyResponseInfo, bq as RemotePolicyStatus, br as ResetCallbackInput, bs as ResolvedScenarioCameraConfig, bt as ResolvedScenarioMaterialConfig, bu as ResourceSelector, bv as ScenarioCameraConfig, bw as ScenarioMaterialConfig, bx as SceneMarker, by as SceneObject, bz as SensorResult, bA as SiteInfo, bB as SplatAssetConfig, bC as SplatScenarioConfig, bD as StateSnapshot, bE as TrajectoryData, bF as TrajectoryFrameCallbackInput, bG as VisualScenarioMaterialFilterInput, bH as XmlPatch, bI as getContact, bJ as registerModelResources } from './types-BHBNJubg.js';
 import * as React$1 from 'react';
+import { RefObject } from 'react';
 import { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
 
@@ -629,6 +630,24 @@ declare function useJointState(name: Joints, options?: JointStateOptions): Joint
  */
 declare function useBodyState(name: Bodies): BodyStateResult;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Ref-based world pose hooks for named MuJoCo bodies, geoms, and sites.
+ */
+
+type PoseResourceKind = 'body' | 'geom' | 'site';
+interface PoseReadout {
+    id: RefObject<number>;
+    found: RefObject<boolean>;
+    position: RefObject<THREE.Vector3>;
+    quaternion: RefObject<THREE.Quaternion>;
+}
+declare function useBodyPose(name: Bodies): PoseReadout;
+declare function useGeomPose(name: Geoms): PoseReadout;
+declare function useSitePose(name: Sites): PoseReadout;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -644,6 +663,40 @@ declare function useBodyState(name: Bodies): BodyStateResult;
  */
 declare function useCtrl(name: Actuators): CtrlHandle;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Cooperative actuator/control ownership for policies, IK, teleop, and replay.
+ */
+
+interface ControlWriterConflict {
+    actuatorIndex: number;
+    owner: string;
+    requestedBy: string;
+}
+interface ControlWriterOptions {
+    owner: string;
+    selector?: ControlGroupSelector;
+    enabled?: boolean;
+    warnOnConflict?: boolean;
+    allowSameOwner?: boolean;
+    onConflict?: (conflicts: ControlWriterConflict[]) => void;
+}
+interface ControlWriterWriteOptions {
+    force?: boolean;
+}
+interface ControlWriterHandle {
+    owner: string;
+    group: RefObject<ControlGroupInfo | null>;
+    conflicts: RefObject<ControlWriterConflict[]>;
+    canWrite: () => boolean;
+    read: () => Float64Array;
+    write: (values: ArrayLike<number>, options?: ControlWriterWriteOptions) => boolean;
+    release: () => void;
+}
+declare function useControlWriter(options: ControlWriterOptions): ControlWriterHandle;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -668,6 +721,33 @@ declare function useContactEvents(bodyName: Bodies, handlers: {
     onExit?: (info: ContactInfo) => void;
 }): void;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Bounded contact history for rollout verification and debugging.
+ */
+
+interface ContactHistoryEntry extends ContactInfo {
+    time: number;
+    body1: number;
+    body1Name: string;
+    body2: number;
+    body2Name: string;
+}
+interface ContactHistoryOptions {
+    maxLength?: number;
+    bodyNames?: readonly string[];
+    geomNames?: readonly string[];
+    includeWorldBody?: boolean;
+}
+interface ContactHistoryHandle {
+    entries: RefObject<ContactHistoryEntry[]>;
+    clear: () => void;
+    countPair: (nameA: string, nameB: string) => number;
+}
+declare function useContactHistory(options?: ContactHistoryOptions): ContactHistoryHandle;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -698,6 +778,13 @@ declare function useKeyboardTeleop(config: KeyboardTeleopConfig): void;
  */
 declare function useKeyboardIkTarget(config: KeyboardIkTargetConfig | null): void;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * usePolicy — policy decimation loop hook (spec 10.1)
+ */
+
 /**
  * Framework-agnostic policy execution hook.
  *
@@ -708,13 +795,23 @@ declare function useKeyboardIkTarget(config: KeyboardIkTargetConfig | null): voi
  * @param config Policy configuration
  * @returns { step, isRunning } control handles
  */
-declare function usePolicy(config: PolicyConfig): {
-    readonly isRunning: boolean;
-    start: () => void;
-    stop: () => void;
-    readonly lastObservation: PolicyVector | null;
-    readonly lastAction: Float64Array<ArrayBufferLike> | Float32Array<ArrayBufferLike> | number[] | null;
-};
+declare function usePolicy(config: PolicyConfig): PolicyAPI;
+
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * useRemotePolicy — HTTP JSON inference wrapper around usePolicy.
+ */
+
+/**
+ * Run a policy whose inference step lives behind an HTTP JSON endpoint.
+ *
+ * The hook keeps `usePolicy` responsible for timing, queueing, and pause/reset
+ * behavior. This wrapper only builds requests, parses responses, and exposes
+ * request metadata for HUDs and debugging.
+ */
+declare function useRemotePolicy(config: RemotePolicyConfig): RemotePolicyAPI;
 
 /**
  * @license
@@ -729,6 +826,61 @@ declare function usePolicy(config: PolicyConfig): {
  */
 declare function useObservation(config: ObservationConfig): ObservationHandle;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Named policy observation builders with layout and units metadata.
+ */
+
+type NamedObservationMissing = 'skip' | 'zeros' | 'throw';
+interface NamedObservationInput {
+    model: MujocoModel;
+    data: MujocoData;
+}
+interface NamedObservationField {
+    name: string;
+    size: number;
+    units?: string;
+    read: (input: NamedObservationInput) => ArrayLike<number> | number | null | undefined;
+}
+interface NamedObservationLayoutItem {
+    name: string;
+    start: number;
+    size: number;
+    units?: string;
+}
+interface NamedObservationOptions {
+    fields: readonly NamedObservationField[];
+    output?: ObservationOutput;
+    missing?: NamedObservationMissing;
+}
+interface NamedObservationResult {
+    values: Float32Array | Float64Array;
+    layout: NamedObservationLayoutItem[];
+}
+declare function readNamedObservation(model: MujocoModel, data: MujocoData, options: NamedObservationOptions): NamedObservationResult;
+declare function createNamedObservationBuilder(options: NamedObservationOptions): (model: MujocoModel, data: MujocoData) => NamedObservationResult;
+declare function qposField(name: string, index: number, units?: string): NamedObservationField;
+declare function qvelField(name: string, index: number, units?: string): NamedObservationField;
+declare function ctrlField(name: string, index: number, units?: string): NamedObservationField;
+declare function bodyPositionField(name: Bodies, units?: string): NamedObservationField;
+declare function geomPositionField(name: Geoms, units?: string): NamedObservationField;
+declare function sitePositionField(name: Sites, units?: string): NamedObservationField;
+
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Stable React handle for named policy observations.
+ */
+
+interface NamedObservationHandle {
+    read: () => NamedObservationResult;
+    readValues: () => Float32Array | Float64Array;
+}
+declare function useNamedObservation(options: NamedObservationOptions): NamedObservationHandle;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -870,15 +1022,6 @@ declare function useFrameCapture(defaultOptions?: FrameCaptureOptions): FrameCap
 
 declare function useCameraFrameCapture(defaultOptions?: CameraFrameCaptureOptions): CameraFrameCaptureAPI;
 
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * React state wrapper around fixed-camera simulation sequence recording.
- */
-
-declare function useCameraSequenceRecorder(): CameraFrameSequenceRecorderAPI;
-
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -1044,6 +1187,71 @@ declare function createMountedCameraFrameSequenceManifest(result: MountedCameraF
 declare function createMountedCameraFrameSequencePlanFromApi(api: MountedCameraFrameSequenceRecorderTarget, cameraKeys: readonly string[], options?: MountedCameraFrameSequencePlanOptions): MountedCameraFrameSequencePlan;
 declare function recordMountedCameraFrameSequence(api: MountedCameraFrameSequenceRecorderTarget, options: MountedCameraFrameSequenceRecordOptions): Promise<MountedCameraFrameSequenceRecordResult>;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Helpers for turning Three/MuJoCo camera captures into policy image payloads.
+ */
+
+type PolicyCameraFrameCaptureTarget = Pick<MujocoSimAPI, 'captureCameraFrame'>;
+type PolicyCameraFramePlanTarget = Pick<MujocoSimAPI, 'getCameras' | 'getSites' | 'getBodies'>;
+type PolicyCameraFrameStreamOptions = Partial<Omit<PolicyCameraFrameStream, 'key'>> & MountedCameraFrameSequenceCameraOptions & {
+    /** Additional policy payload keys that should receive this stream's data URL. */
+    aliases?: readonly string[];
+};
+interface CreatePolicyCameraFrameCapturePlanOptions extends Omit<ResolveMountedCameraFrameSourceOptions, 'cameras' | 'sites' | 'bodies'> {
+    cameraKeys: readonly string[];
+    cameras?: ResolveMountedCameraFrameSourceOptions['cameras'];
+    sites?: ResolveMountedCameraFrameSourceOptions['sites'];
+    bodies?: ResolveMountedCameraFrameSourceOptions['bodies'];
+    defaults?: MountedCameraFrameSequenceDefaults;
+    streamOptions?: Record<string, PolicyCameraFrameStreamOptions>;
+    includeObservationImageAliases?: boolean;
+    requireAll?: boolean;
+}
+interface PolicyCameraFrameCapturePlan extends PolicyCameraFrameCaptureOptions {
+    cameraKeys: string[];
+    streams: PolicyCameraFrameStream[];
+    mountedPlan: MountedCameraFrameSequencePlan;
+    missingKeys: string[];
+}
+declare function createPolicyCameraFrameCapturePlan(options: CreatePolicyCameraFrameCapturePlanOptions): PolicyCameraFrameCapturePlan;
+declare function createPolicyCameraFrameCapturePlanFromApi(api: PolicyCameraFramePlanTarget, options: Omit<CreatePolicyCameraFrameCapturePlanOptions, 'cameras' | 'sites' | 'bodies'>): PolicyCameraFrameCapturePlan;
+declare function capturePolicyCameraFrames(target: PolicyCameraFrameCaptureTarget, options: PolicyCameraFrameCaptureOptions): Promise<PolicyCameraFrameCaptureResult>;
+declare function capturePolicyCameraFramesFromMountedStreams(target: PolicyCameraFrameCaptureTarget & PolicyCameraFramePlanTarget, options: Omit<CreatePolicyCameraFrameCapturePlanOptions, 'cameras' | 'sites' | 'bodies'>): Promise<PolicyCameraFrameCaptureResult & {
+    plan: PolicyCameraFrameCapturePlan;
+}>;
+
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * React wrapper for capturing policy image payloads from Three/MuJoCo cameras.
+ */
+
+type MountedPolicyCameraFrameCaptureOptions = Omit<CreatePolicyCameraFrameCapturePlanOptions, 'cameras' | 'sites' | 'bodies'>;
+interface MountedPolicyCameraFrameCaptureAPI {
+    status: FrameCaptureStatus;
+    error: Error | null;
+    isCapturing: boolean;
+    capture: (options?: Partial<MountedPolicyCameraFrameCaptureOptions>) => Promise<PolicyCameraFrameCaptureResult & {
+        plan: PolicyCameraFrameCapturePlan;
+    }>;
+    reset: () => void;
+}
+declare function usePolicyCameraFrames(defaultOptions: PolicyCameraFrameCaptureOptions): PolicyCameraFrameCaptureAPI;
+declare function usePolicyCameraFramesFromMountedStreams(defaultOptions: MountedPolicyCameraFrameCaptureOptions): MountedPolicyCameraFrameCaptureAPI;
+
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * React state wrapper around fixed-camera simulation sequence recording.
+ */
+
+declare function useCameraSequenceRecorder(): CameraFrameSequenceRecorderAPI;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -1094,6 +1302,8 @@ interface CameraFrameCaptureSession {
     captureBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;
     dispose(): void;
 }
+declare const CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY = "mujocoReactCameraFrameCaptureRender";
+declare const CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY = "mujocoReactCameraFrameCapturePreRender";
 declare const CAPTURE_EXCLUDE_KEY = "mujoco.capture.exclude";
 declare function createCameraFrameCaptureSession(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): CameraFrameCaptureSession;
 declare function renderCameraFrameToCanvas(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): {
@@ -1106,6 +1316,48 @@ declare function renderCameraFrameToCanvas(renderer: THREE.WebGLRenderer, scene:
 declare function captureCameraFrame(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;
 declare function captureCameraFrameBlob(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Helpers for applying policy action vectors to MuJoCo controls.
+ */
+
+interface ApplyPolicyActionToControlsOptions {
+    /**
+     * First actuator/control index to write. Defaults to 0.
+     */
+    actuatorOffset?: number;
+    /**
+     * Maximum number of controls to write. Defaults to the action length.
+     */
+    actionSize?: number;
+    /**
+     * Clamp each action value to `model.actuator_ctrlrange` before writing.
+     * Defaults to true because most learned policies should not exceed actuator limits.
+     */
+    clamp?: boolean;
+    /**
+     * Leave the current control unchanged when an action entry is not finite.
+     * Defaults to true so a bad policy response cannot write NaN into the simulation.
+     */
+    skipInvalid?: boolean;
+}
+interface ApplyPolicyActionToControlsResult {
+    /**
+     * Values actually written to `data.ctrl`, after offset, truncation, and clamping.
+     */
+    applied: number[];
+    /**
+     * Actuator indices that were not written because the corresponding action value
+     * was not finite and `skipInvalid` was enabled.
+     */
+    skipped: number[];
+    actuatorOffset: number;
+}
+declare function clampPolicyActionValue(model: MujocoModel, actuatorIndex: number, value: number): number;
+declare function applyPolicyActionToControls(model: MujocoModel, data: MujocoData, action: PolicyVector, options?: ApplyPolicyActionToControlsOptions): ApplyPolicyActionToControlsResult;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -1201,4 +1453,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { ActuatedJointInfo, ActuatorInfo, Actuators, ArrayJointStateResult, Bodies, Body, BodyProps, BodyStateResult, CAPTURE_EXCLUDE_KEY, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureBlobResult, CameraFrameCaptureOptions, CameraFrameCaptureResult, CameraFrameCaptureSource, type CameraFrameMountSelector, CameraFrameSequenceCamera, CameraFrameSequenceOptions, CameraFrameSequenceRecorderAPI, CameraFrameSequenceResult, Cameras, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, type CreateMountedCameraFrameSequenceManifestOptions, type CreateMountedCameraFrameSequencePlanOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateOptions, JointStateResult, Joints, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, type NamedCameraFrameResource, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, PolicyVector, ReadyCallbackInput, type ResolveMountedCameraFrameSourceOptions, type ResolvedMountedCameraFrameSource, ScalarJointStateResult, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, type SplatCollisionProxyGeomPreview, type SplatCollisionProxyGeomsState, SplatCollisionProxyPreview, type SplatCollisionProxyPreviewProps, type SplatCollisionProxyPreviewStatus, type SplatCollisionProxyPreviewVector3, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatEnvironmentReadiness, SplatEnvironmentReadinessStatus, SplatFormat, SplatRendererKind, SplatSceneConfigInput, SplatSceneConfigState, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, type UseSplatCollisionProxyGeomsOptions, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, VisualScenarioExecutionContext, VisualScenarioExecutionContextInput, buildObservation, canFetchSplatCollisionProxyXml, captureCameraFrame, captureCameraFrameBlob, captureFrame, captureFrameBlob, createCameraFrameCaptureSession, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, recordMountedCameraFrameSequence, renderCameraFrameToCanvas, resolveControlGroup, resolveMountedCameraFrameSource, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, useContactEvents, useContacts, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };
+export { ActuatedJointInfo, ActuatorInfo, Actuators, type ApplyPolicyActionToControlsOptions, type ApplyPolicyActionToControlsResult, ArrayJointStateResult, Bodies, Body, BodyProps, BodyStateResult, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureBlobResult, CameraFrameCaptureOptions, CameraFrameCaptureResult, CameraFrameCaptureSource, type CameraFrameMountSelector, CameraFrameSequenceCamera, CameraFrameSequenceOptions, CameraFrameSequenceRecorderAPI, CameraFrameSequenceResult, Cameras, type ContactHistoryEntry, type ContactHistoryHandle, type ContactHistoryOptions, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControlWriterConflict, type ControlWriterHandle, type ControlWriterOptions, type ControlWriterWriteOptions, type ControllerComponent, type ControllerOptions, type CreateMountedCameraFrameSequenceManifestOptions, type CreateMountedCameraFrameSequencePlanOptions, type CreatePolicyCameraFrameCapturePlanOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, FrameCaptureStatus, GeomInfo, Geoms, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateOptions, JointStateResult, Joints, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, type MountedPolicyCameraFrameCaptureAPI, type MountedPolicyCameraFrameCaptureOptions, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, type NamedCameraFrameResource, type NamedObservationField, type NamedObservationHandle, type NamedObservationInput, type NamedObservationLayoutItem, type NamedObservationMissing, type NamedObservationOptions, type NamedObservationResult, ObservationConfig, ObservationHandle, ObservationOutput, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyAPI, PolicyCameraFrameCaptureAPI, PolicyCameraFrameCaptureOptions, type PolicyCameraFrameCapturePlan, PolicyCameraFrameCaptureResult, type PolicyCameraFrameCaptureTarget, type PolicyCameraFramePlanTarget, PolicyCameraFrameStream, type PolicyCameraFrameStreamOptions, PolicyConfig, PolicyVector, type PoseReadout, type PoseResourceKind, ReadyCallbackInput, RemotePolicyAPI, RemotePolicyConfig, type ResolveMountedCameraFrameSourceOptions, type ResolvedMountedCameraFrameSource, ScalarJointStateResult, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, type SplatCollisionProxyGeomPreview, type SplatCollisionProxyGeomsState, SplatCollisionProxyPreview, type SplatCollisionProxyPreviewProps, type SplatCollisionProxyPreviewStatus, type SplatCollisionProxyPreviewVector3, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatEnvironmentReadiness, SplatEnvironmentReadinessStatus, SplatFormat, SplatRendererKind, SplatSceneConfigInput, SplatSceneConfigState, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, type UseSplatCollisionProxyGeomsOptions, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, VisualScenarioExecutionContext, VisualScenarioExecutionContextInput, applyPolicyActionToControls, bodyPositionField, buildObservation, canFetchSplatCollisionProxyXml, captureCameraFrame, captureCameraFrameBlob, captureFrame, captureFrameBlob, capturePolicyCameraFrames, capturePolicyCameraFramesFromMountedStreams, clampPolicyActionValue, createCameraFrameCaptureSession, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createNamedObservationBuilder, createPairedSplatEnvironment, createPolicyCameraFrameCapturePlan, createPolicyCameraFrameCapturePlanFromApi, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, ctrlField, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, geomPositionField, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, qposField, qvelField, readNamedObservation, recordMountedCameraFrameSequence, renderCameraFrameToCanvas, resolveControlGroup, resolveMountedCameraFrameSource, sitePositionField, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyPose, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, useContactEvents, useContactHistory, useContacts, useControlWriter, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGeomPose, useGravityCompensation, useIkController, useJointState, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useNamedObservation, useObservation, usePolicy, usePolicyCameraFrames, usePolicyCameraFramesFromMountedStreams, useRemotePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePose, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };