mujoco-react 10.0.0 → 10.1.0

package/dist/index.js

@@ -1,11 +1,11 @@
-import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAPTURE_EXCLUDE_KEY } from './chunk-QTCAVQS6.js';
-export { CAPTURE_EXCLUDE_KEY, ModelActuators, ModelBodies, ModelCameras, ModelGeoms, ModelJoints, ModelKeyframes, ModelResources, ModelSensors, ModelSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-QTCAVQS6.js';
+import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY } from './chunk-FEKBKHEN.js';
+export { CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY, ModelActuators, ModelBodies, ModelCameras, ModelGeoms, ModelJoints, ModelKeyframes, ModelResources, ModelSensors, ModelSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-FEKBKHEN.js';
 import loadMujoco from '@mujoco/mujoco';
 import defaultMujocoWasmUrl from '@mujoco/mujoco/mujoco.wasm?url';
 import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo, useLayoutEffect } from 'react';
 import { jsx, jsxs } from 'react/jsx-runtime';
 import { Canvas, useThree, useFrame } from '@react-three/fiber';
-import * as THREE11 from 'three';
+import * as THREE10 from 'three';
 import { PivotControls } from '@react-three/drei';
 
 var MujocoContext = createContext({
@@ -105,16 +105,16 @@ function MujocoProvider({
     }
   );
 }
-var CapsuleGeometry = class extends THREE11.BufferGeometry {
+var CapsuleGeometry = class extends THREE10.BufferGeometry {
   parameters;
   constructor(radius = 1, length = 1, capSegments = 4, radialSegments = 8) {
     super();
     this.type = "CapsuleGeometry";
     this.parameters = { radius, length, capSegments, radialSegments };
-    const path = new THREE11.Path();
+    const path = new THREE10.Path();
     path.absarc(0, -length / 2, radius, Math.PI * 1.5, 0, false);
     path.absarc(0, length / 2, radius, 0, Math.PI * 0.5, false);
-    const latheGeometry = new THREE11.LatheGeometry(path.getPoints(capSegments), radialSegments);
+    const latheGeometry = new THREE10.LatheGeometry(path.getPoints(capSegments), radialSegments);
     const self = this;
     self.setIndex(latheGeometry.getIndex());
     self.setAttribute("position", latheGeometry.getAttribute("position"));
@@ -122,231 +122,6 @@ var CapsuleGeometry = class extends THREE11.BufferGeometry {
     self.setAttribute("uv", latheGeometry.getAttribute("uv"));
   }
 };
-var Reflector = class extends THREE11.Mesh {
-  isReflector = true;
-  camera;
-  reflectorPlane = new THREE11.Plane();
-  normal = new THREE11.Vector3();
-  reflectorWorldPosition = new THREE11.Vector3();
-  cameraWorldPosition = new THREE11.Vector3();
-  rotationMatrix = new THREE11.Matrix4();
-  lookAtPosition = new THREE11.Vector3(0, 0, -1);
-  clipPlane = new THREE11.Vector4();
-  view = new THREE11.Vector3();
-  target = new THREE11.Vector3();
-  q = new THREE11.Vector4();
-  textureMatrix = new THREE11.Matrix4();
-  virtualCamera;
-  renderTarget;
-  constructor(geometry, options = {}) {
-    super(geometry);
-    this.type = "Reflector";
-    this.camera = new THREE11.PerspectiveCamera();
-    const color = options.color !== void 0 ? new THREE11.Color(options.color) : new THREE11.Color(8355711);
-    const textureWidth = options.textureWidth || 512;
-    const textureHeight = options.textureHeight || 512;
-    const clipBias = options.clipBias || 0;
-    const multisample = options.multisample !== void 0 ? options.multisample : 4;
-    const blendTexture = options.texture || void 0;
-    const mixStrength = options.mixStrength !== void 0 ? options.mixStrength : 0.25;
-    this.virtualCamera = this.camera;
-    this.renderTarget = new THREE11.WebGLRenderTarget(textureWidth, textureHeight, {
-      samples: multisample,
-      type: THREE11.HalfFloatType
-    });
-    this.material = new THREE11.MeshPhysicalMaterial({
-      map: blendTexture,
-      color,
-      roughness: 0.5,
-      metalness: 0.1
-    });
-    this.material.onBeforeCompile = (shader) => {
-      shader.uniforms.tDiffuse = { value: this.renderTarget.texture };
-      shader.uniforms.textureMatrix = { value: this.textureMatrix };
-      shader.uniforms.mixStrength = { value: mixStrength };
-      const bodyStart = shader.vertexShader.indexOf("void main() {");
-      shader.vertexShader = "uniform mat4 textureMatrix;\nvarying vec4 vUvReflection;\n" + shader.vertexShader.slice(0, bodyStart) + shader.vertexShader.slice(bodyStart, -1) + "   vUvReflection = textureMatrix * vec4( position, 1.0 );\n}";
-      const fragmentBodyStart = shader.fragmentShader.indexOf("void main() {");
-      shader.fragmentShader = "uniform sampler2D tDiffuse;\nuniform float mixStrength;\nvarying vec4 vUvReflection;\n" + shader.fragmentShader.slice(0, fragmentBodyStart) + shader.fragmentShader.slice(fragmentBodyStart, -1) + "   vec4 reflectionColor = texture2DProj( tDiffuse, vUvReflection );\n   gl_FragColor = vec4( mix( gl_FragColor.rgb, reflectionColor.rgb, mixStrength ), gl_FragColor.a );\n}";
-    };
-    this.receiveShadow = true;
-    this.onBeforeRender = (renderer, scene, camera) => {
-      this.reflectorWorldPosition.setFromMatrixPosition(this.matrixWorld);
-      this.cameraWorldPosition.setFromMatrixPosition(camera.matrixWorld);
-      this.rotationMatrix.extractRotation(this.matrixWorld);
-      this.normal.set(0, 0, 1);
-      this.normal.applyMatrix4(this.rotationMatrix);
-      this.view.subVectors(this.reflectorWorldPosition, this.cameraWorldPosition);
-      if (this.view.dot(this.normal) > 0) return;
-      this.view.reflect(this.normal).negate();
-      this.view.add(this.reflectorWorldPosition);
-      this.rotationMatrix.extractRotation(camera.matrixWorld);
-      this.lookAtPosition.set(0, 0, -1);
-      this.lookAtPosition.applyMatrix4(this.rotationMatrix);
-      this.lookAtPosition.add(this.cameraWorldPosition);
-      this.target.subVectors(this.reflectorWorldPosition, this.lookAtPosition);
-      this.target.reflect(this.normal).negate();
-      this.target.add(this.reflectorWorldPosition);
-      this.virtualCamera.position.copy(this.view);
-      this.virtualCamera.up.set(0, 1, 0);
-      this.virtualCamera.up.applyMatrix4(this.rotationMatrix);
-      this.virtualCamera.up.reflect(this.normal);
-      this.virtualCamera.lookAt(this.target);
-      this.virtualCamera.far = camera.far;
-      this.virtualCamera.updateMatrixWorld();
-      this.virtualCamera.projectionMatrix.copy(camera.projectionMatrix);
-      this.textureMatrix.set(
-        0.5,
-        0,
-        0,
-        0.5,
-        0,
-        0.5,
-        0,
-        0.5,
-        0,
-        0,
-        0.5,
-        0.5,
-        0,
-        0,
-        0,
-        1
-      );
-      this.textureMatrix.multiply(this.virtualCamera.projectionMatrix);
-      this.textureMatrix.multiply(this.virtualCamera.matrixWorldInverse);
-      this.textureMatrix.multiply(this.matrixWorld);
-      this.reflectorPlane.setFromNormalAndCoplanarPoint(this.normal, this.reflectorWorldPosition);
-      this.reflectorPlane.applyMatrix4(this.virtualCamera.matrixWorldInverse);
-      this.clipPlane.set(this.reflectorPlane.normal.x, this.reflectorPlane.normal.y, this.reflectorPlane.normal.z, this.reflectorPlane.constant);
-      const projectionMatrix = this.virtualCamera.projectionMatrix;
-      this.q.x = (Math.sign(this.clipPlane.x) + projectionMatrix.elements[8]) / projectionMatrix.elements[0];
-      this.q.y = (Math.sign(this.clipPlane.y) + projectionMatrix.elements[9]) / projectionMatrix.elements[5];
-      this.q.z = -1;
-      this.q.w = (1 + projectionMatrix.elements[10]) / projectionMatrix.elements[14];
-      this.clipPlane.multiplyScalar(2 / this.clipPlane.dot(this.q));
-      projectionMatrix.elements[2] = this.clipPlane.x;
-      projectionMatrix.elements[6] = this.clipPlane.y;
-      projectionMatrix.elements[10] = this.clipPlane.z + 1 - clipBias;
-      projectionMatrix.elements[14] = this.clipPlane.w;
-      this.visible = false;
-      const currentRenderTarget = renderer.getRenderTarget();
-      const currentXrEnabled = renderer.xr.enabled;
-      const currentShadowAutoUpdate = renderer.shadowMap.autoUpdate;
-      renderer.xr.enabled = false;
-      renderer.shadowMap.autoUpdate = false;
-      renderer.setRenderTarget(this.renderTarget);
-      renderer.state.buffers.depth.setMask(true);
-      if (renderer.autoClear === false) renderer.clear();
-      renderer.render(scene, this.virtualCamera);
-      renderer.xr.enabled = currentXrEnabled;
-      renderer.shadowMap.autoUpdate = currentShadowAutoUpdate;
-      renderer.setRenderTarget(currentRenderTarget);
-      const viewport = camera.viewport;
-      if (viewport !== void 0) {
-        renderer.state.viewport(viewport);
-      }
-      this.visible = true;
-    };
-  }
-  getRenderTarget() {
-    return this.renderTarget;
-  }
-  dispose() {
-    this.renderTarget.dispose();
-    const mesh = this;
-    if (Array.isArray(mesh.material)) {
-      mesh.material.forEach((m) => m.dispose());
-    } else {
-      mesh.material.dispose();
-    }
-  }
-};
-
-// src/rendering/GeomBuilder.ts
-var GeomBuilder = class {
-  mujoco;
-  constructor(mujoco) {
-    this.mujoco = mujoco;
-  }
-  /**
-   * Creates a Three.js Object3D (usually a Mesh) for a specific geometry in the MuJoCo model.
-   * Returns null if the geometry shouldn't be rendered (e.g., invisible collision triggers).
-   */
-  create(mjModel, g) {
-    if (mjModel.geom_group[g] === 3) return null;
-    const type = mjModel.geom_type[g];
-    const size = mjModel.geom_size.subarray(g * 3, g * 3 + 3);
-    const pos = mjModel.geom_pos.subarray(g * 3, g * 3 + 3);
-    const quat = mjModel.geom_quat.subarray(g * 4, g * 4 + 4);
-    const matId = mjModel.geom_matid[g];
-    const color = new THREE11.Color(16777215);
-    let opacity = 1;
-    if (matId >= 0) {
-      const rgba = mjModel.mat_rgba.subarray(matId * 4, matId * 4 + 4);
-      color.setRGB(rgba[0], rgba[1], rgba[2]);
-      opacity = rgba[3];
-    } else {
-      const rgba = mjModel.geom_rgba.subarray(g * 4, g * 4 + 4);
-      color.setRGB(rgba[0], rgba[1], rgba[2]);
-      opacity = rgba[3];
-    }
-    const MG = this.mujoco.mjtGeom;
-    let geo = null;
-    const getVal = (v) => v?.value ?? v;
-    if (type === getVal(MG.mjGEOM_PLANE)) {
-      geo = new THREE11.PlaneGeometry(size[0] * 2 || 5, size[1] * 2 || 5);
-    } else if (type === getVal(MG.mjGEOM_SPHERE)) {
-      geo = new THREE11.SphereGeometry(size[0], 24, 24);
-    } else if (type === getVal(MG.mjGEOM_CAPSULE)) {
-      geo = new CapsuleGeometry(size[0], size[1] * 2, 24, 12);
-      geo.rotateX(Math.PI / 2);
-    } else if (type === getVal(MG.mjGEOM_BOX)) {
-      geo = new THREE11.BoxGeometry(size[0] * 2, size[1] * 2, size[2] * 2);
-    } else if (type === getVal(MG.mjGEOM_CYLINDER)) {
-      geo = new THREE11.CylinderGeometry(size[0], size[0], size[1] * 2, 24);
-      geo.rotateX(Math.PI / 2);
-    } else if (type === getVal(MG.mjGEOM_MESH)) {
-      const mId = mjModel.geom_dataid[g];
-      const vAdr = mjModel.mesh_vertadr[mId];
-      const vNum = mjModel.mesh_vertnum[mId];
-      const fAdr = mjModel.mesh_faceadr[mId];
-      const fNum = mjModel.mesh_facenum[mId];
-      geo = new THREE11.BufferGeometry();
-      geo.setAttribute("position", new THREE11.Float32BufferAttribute(mjModel.mesh_vert.subarray(vAdr * 3, (vAdr + vNum) * 3), 3));
-      geo.setIndex(Array.from(mjModel.mesh_face.subarray(fAdr * 3, (fAdr + fNum) * 3)));
-      geo.computeVertexNormals();
-    }
-    if (geo) {
-      let mesh;
-      if (type === getVal(MG.mjGEOM_PLANE)) {
-        mesh = new Reflector(geo, {
-          clipBias: 3e-3,
-          textureWidth: 1024,
-          textureHeight: 1024,
-          color,
-          mixStrength: 0.25
-        });
-      } else {
-        mesh = new THREE11.Mesh(geo, new THREE11.MeshStandardMaterial({
-          color,
-          transparent: opacity < 1,
-          opacity,
-          roughness: 0.6,
-          metalness: 0.2
-        }));
-        mesh.castShadow = true;
-        mesh.receiveShadow = true;
-      }
-      mesh.position.set(pos[0], pos[1], pos[2]);
-      mesh.quaternion.set(quat[1], quat[2], quat[3], quat[0]);
-      mesh.userData.bodyID = mjModel.geom_bodyid[g];
-      mesh.userData.geomID = g;
-      return mesh;
-    }
-    return null;
-  }
-};
 
 // src/core/SceneLoader.ts
 var JOINT_TYPE_NAMES = {
@@ -704,8 +479,10 @@ function createContiguousControlGroup(mjModel, count) {
 }
 function sceneObjectToXml(obj) {
   const joint = obj.freejoint ? "<freejoint/>" : "";
+  const geomName = obj.geomName ?? `${obj.name}_geom`;
   const pos = obj.position.map((v) => v.toFixed(3)).join(" ");
-  const size = obj.size.map((v) => v.toFixed(3)).join(" ");
+  const sizeValues = obj.type === "sphere" ? obj.size.slice(0, 1) : obj.type === "cylinder" ? obj.size.slice(0, 2) : obj.size;
+  const size = sizeValues.map((v) => v.toFixed(3)).join(" ");
   const rgba = obj.rgba.join(" ");
   const mass = obj.mass ? ` mass="${obj.mass}"` : "";
   const friction = obj.friction ? ` friction="${obj.friction}"` : "";
@@ -713,7 +490,7 @@ function sceneObjectToXml(obj) {
   const solimp = obj.solimp ? ` solimp="${obj.solimp}"` : "";
   const condim = obj.condim ? ` condim="${obj.condim}"` : "";
   const group = obj.group !== void 0 ? ` group="${obj.group}"` : "";
-  return `<body name="${obj.name}" pos="${pos}">${joint}<geom type="${obj.type}" size="${size}" rgba="${rgba}" contype="1" conaffinity="1"${mass}${friction}${solref}${solimp}${condim}${group}/></body>`;
+  return `<body name="${obj.name}" pos="${pos}">${joint}<geom name="${geomName}" type="${obj.type}" size="${size}" rgba="${rgba}" contype="1" conaffinity="1"${mass}${friction}${solref}${solimp}${condim}${group}/></body>`;
 }
 function ensureDir(mujoco, fname) {
   const dirParts = fname.split("/");
@@ -1112,6 +889,137 @@ function collectDependencyPaths(xmlString, currentFile, parser) {
   });
   return paths;
 }
+
+// src/rendering/GeomBuilder.ts
+var GeomBuilder = class {
+  mujoco;
+  textureCache = /* @__PURE__ */ new Map();
+  constructor(mujoco) {
+    this.mujoco = mujoco;
+  }
+  getMaterialTexture(mjModel, matId) {
+    if (matId < 0 || !mjModel.mat_texid || !mjModel.tex_data) return null;
+    const materialCount = Math.max(1, Math.floor(mjModel.mat_rgba.length / 4));
+    const textureRoles = Math.max(1, Math.floor(mjModel.mat_texid.length / materialCount));
+    let texId = -1;
+    for (let role = 0; role < textureRoles; role += 1) {
+      const candidate = mjModel.mat_texid[matId * textureRoles + role];
+      if (candidate >= 0) {
+        texId = candidate;
+        break;
+      }
+    }
+    if (texId < 0) return null;
+    const cached = this.textureCache.get(texId);
+    if (cached) return cached;
+    const width = Number(mjModel.tex_width[texId]);
+    const height = Number(mjModel.tex_height[texId]);
+    const channels = Number(mjModel.tex_nchannel[texId]);
+    const offset = Number(mjModel.tex_adr[texId]);
+    if (width <= 0 || height <= 0 || channels <= 0 || offset < 0) return null;
+    const source = mjModel.tex_data.subarray(offset, offset + width * height * channels);
+    const rgba = new Uint8Array(width * height * 4);
+    for (let i = 0, j = 0; i < width * height; i += 1, j += channels) {
+      const r = source[j] ?? 255;
+      const g = channels > 1 ? source[j + 1] : r;
+      const b = channels > 2 ? source[j + 2] : r;
+      const a = channels > 3 ? source[j + 3] : 255;
+      const out = i * 4;
+      rgba[out] = r;
+      rgba[out + 1] = g;
+      rgba[out + 2] = b;
+      rgba[out + 3] = a;
+    }
+    const texture = new THREE10.DataTexture(rgba, width, height, THREE10.RGBAFormat);
+    texture.colorSpace = THREE10.LinearSRGBColorSpace;
+    texture.wrapS = THREE10.RepeatWrapping;
+    texture.wrapT = THREE10.RepeatWrapping;
+    texture.flipY = true;
+    const repeatOffset = matId * 2;
+    const repeatS = mjModel.mat_texrepeat?.[repeatOffset] ?? 1;
+    const repeatT = mjModel.mat_texrepeat?.[repeatOffset + 1] ?? 1;
+    texture.repeat.set(repeatS || 1, repeatT || 1);
+    texture.needsUpdate = true;
+    this.textureCache.set(texId, texture);
+    return texture;
+  }
+  /**
+   * Creates a Three.js Object3D (usually a Mesh) for a specific geometry in the MuJoCo model.
+   * Returns null if the geometry shouldn't be rendered (e.g., invisible collision triggers).
+   */
+  create(mjModel, g) {
+    if (mjModel.geom_group[g] === 3) return null;
+    const type = mjModel.geom_type[g];
+    const size = mjModel.geom_size.subarray(g * 3, g * 3 + 3);
+    const pos = mjModel.geom_pos.subarray(g * 3, g * 3 + 3);
+    const quat = mjModel.geom_quat.subarray(g * 4, g * 4 + 4);
+    const matId = mjModel.geom_matid[g];
+    const color = new THREE10.Color(16777215);
+    const map = this.getMaterialTexture(mjModel, matId);
+    let opacity = 1;
+    if (matId >= 0) {
+      const rgba = mjModel.mat_rgba.subarray(matId * 4, matId * 4 + 4);
+      color.setRGB(rgba[0], rgba[1], rgba[2]);
+      opacity = rgba[3];
+    } else {
+      const rgba = mjModel.geom_rgba.subarray(g * 4, g * 4 + 4);
+      color.setRGB(rgba[0], rgba[1], rgba[2]);
+      opacity = rgba[3];
+    }
+    const MG = this.mujoco.mjtGeom;
+    let geo = null;
+    const getVal = (v) => v?.value ?? v;
+    if (type === getVal(MG.mjGEOM_PLANE)) {
+      geo = new THREE10.PlaneGeometry(size[0] * 2 || 5, size[1] * 2 || 5);
+    } else if (type === getVal(MG.mjGEOM_SPHERE)) {
+      geo = new THREE10.SphereGeometry(size[0], 24, 24);
+    } else if (type === getVal(MG.mjGEOM_CAPSULE)) {
+      geo = new CapsuleGeometry(size[0], size[1] * 2, 24, 12);
+      geo.rotateX(Math.PI / 2);
+    } else if (type === getVal(MG.mjGEOM_BOX)) {
+      geo = new THREE10.BoxGeometry(size[0] * 2, size[1] * 2, size[2] * 2);
+    } else if (type === getVal(MG.mjGEOM_CYLINDER)) {
+      geo = new THREE10.CylinderGeometry(size[0], size[0], size[1] * 2, 24);
+      geo.rotateX(Math.PI / 2);
+    } else if (type === getVal(MG.mjGEOM_MESH)) {
+      const mId = mjModel.geom_dataid[g];
+      const vAdr = mjModel.mesh_vertadr[mId];
+      const vNum = mjModel.mesh_vertnum[mId];
+      const fAdr = mjModel.mesh_faceadr[mId];
+      const fNum = mjModel.mesh_facenum[mId];
+      geo = new THREE10.BufferGeometry();
+      geo.setAttribute("position", new THREE10.Float32BufferAttribute(mjModel.mesh_vert.subarray(vAdr * 3, (vAdr + vNum) * 3), 3));
+      geo.setIndex(Array.from(mjModel.mesh_face.subarray(fAdr * 3, (fAdr + fNum) * 3)));
+      geo.computeVertexNormals();
+    }
+    if (geo) {
+      const isPlane = type === getVal(MG.mjGEOM_PLANE);
+      const materialMap = isPlane && map ? map.clone() : map;
+      if (isPlane && materialMap) {
+        materialMap.repeat.multiplyScalar(2.5);
+        materialMap.needsUpdate = true;
+      }
+      const mesh = new THREE10.Mesh(geo, new THREE10.MeshStandardMaterial({
+        color,
+        map: materialMap,
+        transparent: opacity < 1,
+        opacity,
+        roughness: 0.6,
+        metalness: 0
+      }));
+      mesh.castShadow = type !== getVal(MG.mjGEOM_PLANE);
+      mesh.receiveShadow = true;
+      mesh.position.set(pos[0], pos[1], pos[2]);
+      mesh.quaternion.set(quat[1], quat[2], quat[3], quat[0]);
+      mesh.userData.bodyID = mjModel.geom_bodyid[g];
+      mesh.userData.geomID = g;
+      mesh.userData.geomGroup = mjModel.geom_group[g];
+      mesh.userData.geomName = getName(mjModel, mjModel.name_geomadr[g]);
+      return mesh;
+    }
+    return null;
+  }
+};
 function SceneRenderer(props) {
   const {
     mjModelRef,
@@ -1142,7 +1050,7 @@ function SceneRenderer(props) {
     }
     const refs = [];
     for (let i = 0; i < model.nbody; i++) {
-      const bodyGroup = new THREE11.Group();
+      const bodyGroup = new THREE10.Group();
       bodyGroup.userData.bodyID = i;
       const bodyName = getName(model, model.name_bodyadr[i]);
       if (!hiddenBodiesRef.current.has(bodyName)) {
@@ -1158,7 +1066,7 @@ function SceneRenderer(props) {
     }
     bodyRefs.current = refs;
   }, [status, geomBuilder, mjModelRef]);
-  useFrame(() => {
+  const syncBodiesToData = useCallback(() => {
     const data = mjDataRef.current;
     if (!data) return;
     const bodies = bodyRefs.current;
@@ -1171,9 +1079,9 @@ function SceneRenderer(props) {
         const alpha = interpolation.alpha;
         const i3 = i * 3;
         ref.position.set(
-          THREE11.MathUtils.lerp(interpolation.previousXpos[i3], interpolation.currentXpos[i3], alpha),
-          THREE11.MathUtils.lerp(interpolation.previousXpos[i3 + 1], interpolation.currentXpos[i3 + 1], alpha),
-          THREE11.MathUtils.lerp(interpolation.previousXpos[i3 + 2], interpolation.currentXpos[i3 + 2], alpha)
+          THREE10.MathUtils.lerp(interpolation.previousXpos[i3], interpolation.currentXpos[i3], alpha),
+          THREE10.MathUtils.lerp(interpolation.previousXpos[i3 + 1], interpolation.currentXpos[i3 + 1], alpha),
+          THREE10.MathUtils.lerp(interpolation.previousXpos[i3 + 2], interpolation.currentXpos[i3 + 2], alpha)
         );
         const i4 = i * 4;
         _previousQuat.set(
@@ -1203,12 +1111,17 @@ function SceneRenderer(props) {
         );
       }
     }
-  });
+  }, [interpolateRef, interpolationStateRef, mjDataRef]);
+  useFrame(syncBodiesToData);
   return /* @__PURE__ */ jsx(
     "group",
     {
       ...props,
       ref: groupRef,
+      userData: {
+        ...props.userData,
+        [CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY]: syncBodiesToData
+      },
       onDoubleClick: (e) => {
         if (typeof props.onDoubleClick === "function") props.onDoubleClick(e);
         e.stopPropagation();
@@ -1228,8 +1141,8 @@ function SceneRenderer(props) {
     }
   );
 }
-var _previousQuat = new THREE11.Quaternion();
-var _currentQuat = new THREE11.Quaternion();
+var _previousQuat = new THREE10.Quaternion();
+var _currentQuat = new THREE10.Quaternion();
 function isTargetRef(target) {
   return Boolean(target && typeof target === "object" && "current" in target);
 }
@@ -1810,8 +1723,8 @@ var _applyPoint = new Float64Array(3);
 var _rayPnt = new Float64Array(3);
 var _rayVec = new Float64Array(3);
 var _rayGeomId = new Int32Array(1);
-var _projRaycaster = new THREE11.Raycaster();
-var _projNdc = new THREE11.Vector2();
+var _projRaycaster = new THREE10.Raycaster();
+var _projNdc = new THREE10.Vector2();
 function waitForNextAnimationFrame2() {
   return new Promise((resolve) => {
     requestAnimationFrame(() => resolve());
@@ -1836,7 +1749,7 @@ function quaternionFromMujocoQuat(values, offset) {
   ];
 }
 function quaternionFromXmat(values, offset) {
-  const matrix = new THREE11.Matrix4();
+  const matrix = new THREE10.Matrix4();
   matrix.set(
     values[offset],
     values[offset + 1],
@@ -1855,13 +1768,49 @@ function quaternionFromXmat(values, offset) {
     0,
     1
   );
-  const quaternion = new THREE11.Quaternion().setFromRotationMatrix(matrix);
+  const quaternion = new THREE10.Quaternion().setFromRotationMatrix(matrix);
   return [quaternion.x, quaternion.y, quaternion.z, quaternion.w];
 }
 function omitResolvedCameraSelectors(options) {
   const { cameraName, siteName, bodyName, ...rest } = options;
   return rest;
 }
+function vector3FromCaptureValue(value) {
+  return value instanceof THREE10.Vector3 ? value.clone() : new THREE10.Vector3(value[0], value[1], value[2]);
+}
+function quaternionFromCaptureValue(value) {
+  return value instanceof THREE10.Quaternion ? value.clone() : new THREE10.Quaternion(value[0], value[1], value[2], value[3]);
+}
+function applyMountedCameraPoseOffsets(options, position, quaternion) {
+  const resolvedPosition = new THREE10.Vector3(position[0], position[1], position[2]);
+  const resolvedQuaternion = new THREE10.Quaternion(
+    quaternion[0],
+    quaternion[1],
+    quaternion[2],
+    quaternion[3]
+  );
+  if (options.positionOffset) {
+    resolvedPosition.add(
+      vector3FromCaptureValue(options.positionOffset).applyQuaternion(resolvedQuaternion)
+    );
+  }
+  if (options.quaternionOffset) {
+    resolvedQuaternion.multiply(quaternionFromCaptureValue(options.quaternionOffset)).normalize();
+  }
+  return {
+    position: [
+      resolvedPosition.x,
+      resolvedPosition.y,
+      resolvedPosition.z
+    ],
+    quaternion: [
+      resolvedQuaternion.x,
+      resolvedQuaternion.y,
+      resolvedQuaternion.z,
+      resolvedQuaternion.w
+    ]
+  };
+}
 function countMountedCameraSelectors(options) {
   return Number(Boolean(options.cameraName)) + Number(Boolean(options.siteName)) + Number(Boolean(options.bodyName));
 }
@@ -2553,10 +2502,10 @@ function MujocoSimProvider({
             `MuJoCo camera "${options.cameraName}" does not expose a capture pose.`
           );
         }
+        const pose = applyMountedCameraPoseOffsets(options, position, quaternion);
         return {
           ...baseOptions,
-          position,
-          quaternion,
+          ...pose,
           fov: options.fov ?? model.cam_fovy?.[cameraId],
           source: { kind: "mujoco-camera", cameraName: options.cameraName }
         };
@@ -2566,10 +2515,14 @@ function MujocoSimProvider({
         if (siteId < 0) {
           throw new Error(`MuJoCo site "${options.siteName}" was not found.`);
         }
+        const pose = applyMountedCameraPoseOffsets(
+          options,
+          vector3FromArray(data.site_xpos, siteId * 3),
+          quaternionFromXmat(data.site_xmat, siteId * 9)
+        );
         return {
           ...baseOptions,
-          position: vector3FromArray(data.site_xpos, siteId * 3),
-          quaternion: quaternionFromXmat(data.site_xmat, siteId * 9),
+          ...pose,
           source: { kind: "mujoco-site", siteName: options.siteName }
         };
       }
@@ -2583,10 +2536,14 @@ function MujocoSimProvider({
             `MuJoCo body "${options.bodyName}" does not expose world orientation data.`
           );
         }
+        const pose = applyMountedCameraPoseOffsets(
+          options,
+          vector3FromArray(data.xpos, bodyId * 3),
+          quaternionFromXmat(data.xmat, bodyId * 9)
+        );
         return {
           ...baseOptions,
-          position: vector3FromArray(data.xpos, bodyId * 3),
-          quaternion: quaternionFromXmat(data.xmat, bodyId * 9),
+          ...pose,
           source: { kind: "mujoco-body", bodyName: options.bodyName }
         };
       }
@@ -2633,7 +2590,7 @@ function MujocoSimProvider({
       const geomId = _rayGeomId[0];
       const bodyId = geomId >= 0 ? model.geom_bodyid[geomId] : -1;
       return {
-        point: new THREE11.Vector3(
+        point: new THREE10.Vector3(
           origin.x + dir.x * dist,
           origin.y + dir.y * dist,
           origin.z + dir.z * dist
@@ -3382,6 +3339,16 @@ var DEFAULTS = {
   posWeight: 1,
   rotWeight: 0.3
 };
+function resolveOptions(opts) {
+  return {
+    maxIterations: opts?.maxIterations ?? DEFAULTS.maxIterations,
+    damping: opts?.damping ?? DEFAULTS.damping,
+    tolerance: opts?.tolerance ?? DEFAULTS.tolerance,
+    epsilon: opts?.epsilon ?? DEFAULTS.epsilon,
+    posWeight: opts?.posWeight ?? DEFAULTS.posWeight,
+    rotWeight: opts?.rotWeight ?? DEFAULTS.rotWeight
+  };
+}
 var GenericIK = class {
   mujoco;
   constructor(mujoco) {
@@ -3400,7 +3367,7 @@ var GenericIK = class {
    * @returns Joint angles array, or null if solver diverged
    */
   solve(model, data, siteId, qposAdr, targetPos, targetQuat, currentQ, opts) {
-    const o = { ...DEFAULTS, ...opts };
+    const o = resolveOptions(opts);
     const n = qposAdr.length;
     const savedQpos = new Float64Array(data.qpos.length);
     savedQpos.set(data.qpos);
@@ -3602,7 +3569,7 @@ function solve6x6(A, b, x) {
 }
 
 // src/hooks/useIkController.ts
-var _syncMat4 = new THREE11.Matrix4();
+var _syncMat4 = new THREE10.Matrix4();
 function syncGizmoToSite(data, siteId, target) {
   if (siteId === -1) return;
   const sitePos = data.site_xpos.subarray(siteId * 3, siteId * 3 + 3);
@@ -3634,7 +3601,7 @@ var useIkController = createControllerHook(
     const { mjModelRef, mjDataRef, mujocoRef, resetCallbacks, status } = useMujocoContext();
     const ikEnabledRef = useRef(false);
     const ikCalculatingRef = useRef(false);
-    const ikTargetRef = useRef(new THREE11.Group());
+    const ikTargetRef = useRef(new THREE10.Group());
     const siteIdRef = useRef(-1);
     const controlGroupRef = useRef(null);
     const genericIkRef = useRef(new GenericIK(mujocoRef.current));
@@ -3642,10 +3609,10 @@ var useIkController = createControllerHook(
     const needsInitialSync = useRef(true);
     const gizmoAnimRef = useRef({
       active: false,
-      startPos: new THREE11.Vector3(),
-      endPos: new THREE11.Vector3(),
-      startRot: new THREE11.Quaternion(),
-      endRot: new THREE11.Quaternion(),
+      startPos: new THREE10.Vector3(),
+      endPos: new THREE10.Vector3(),
+      startRot: new THREE10.Quaternion(),
+      endRot: new THREE10.Quaternion(),
       startTime: 0,
       duration: 1e3
     });
@@ -3714,8 +3681,8 @@ var useIkController = createControllerHook(
       const ga = gizmoAnimRef.current;
       const target = ikTargetRef.current;
       if (!ga.active || !target) return;
-      const now = performance.now();
-      const elapsed = now - ga.startTime;
+      const now2 = performance.now();
+      const elapsed = now2 - ga.startTime;
       const t = Math.min(elapsed / ga.duration, 1);
       const ease = 1 - Math.pow(1 - t, 3);
       target.position.lerpVectors(ga.startPos, ga.endPos, ease);
@@ -3797,8 +3764,8 @@ var useIkController = createControllerHook(
         const target = ikTargetRef.current;
         if (!target) return;
         const targetPos = pos.clone();
-        const targetRot = new THREE11.Quaternion().setFromEuler(
-          new THREE11.Euler(Math.PI, 0, 0)
+        const targetRot = new THREE10.Quaternion().setFromEuler(
+          new THREE10.Euler(Math.PI, 0, 0)
         );
         if (duration > 0) {
           const ga = gizmoAnimRef.current;
@@ -3823,7 +3790,7 @@ var useIkController = createControllerHook(
         if (!ikCalculatingRef.current || !target) return null;
         return {
           pos: target.position.clone(),
-          rot: new THREE11.Euler().setFromQuaternion(target.quaternion)
+          rot: new THREE10.Euler().setFromQuaternion(target.quaternion)
         };
       },
       []
@@ -3919,10 +3886,10 @@ function Body({
   if (!hasChildren) return null;
   return /* @__PURE__ */ jsx("group", { ref: groupRef, children });
 }
-var _mat4 = new THREE11.Matrix4();
-var _pos = new THREE11.Vector3();
-var _quat = new THREE11.Quaternion();
-var _scale = new THREE11.Vector3(1, 1, 1);
+var _mat4 = new THREE10.Matrix4();
+var _pos = new THREE10.Vector3();
+var _quat = new THREE10.Quaternion();
+var _scale = new THREE10.Vector3(1, 1, 1);
 function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = controller;
@@ -4021,7 +3988,7 @@ function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
     }
   );
 }
-var _dummy = new THREE11.Object3D();
+var _dummy = new THREE10.Object3D();
 function ContactMarkers({
   maxContacts = 100,
   radius = 8e-3,
@@ -4075,11 +4042,11 @@ function ContactMarkers({
 var _force = new Float64Array(3);
 var _torque = new Float64Array(3);
 var _point = new Float64Array(3);
-var _bodyPos = new THREE11.Vector3();
-var _bodyQuat = new THREE11.Quaternion();
-var _worldHit = new THREE11.Vector3();
-var _raycaster = new THREE11.Raycaster();
-var _mouse = new THREE11.Vector2();
+var _bodyPos = new THREE10.Vector3();
+var _bodyQuat = new THREE10.Quaternion();
+var _worldHit = new THREE10.Vector3();
+var _raycaster = new THREE10.Raycaster();
+var _mouse = new THREE10.Vector2();
 function DragInteraction({
   stiffness = 250,
   showArrow = true,
@@ -4090,16 +4057,16 @@ function DragInteraction({
   const draggingRef = useRef(false);
   const bodyIdRef = useRef(-1);
   const grabDistanceRef = useRef(0);
-  const localHitRef = useRef(new THREE11.Vector3());
-  const grabWorldRef = useRef(new THREE11.Vector3());
-  const mouseWorldRef = useRef(new THREE11.Vector3());
+  const localHitRef = useRef(new THREE10.Vector3());
+  const grabWorldRef = useRef(new THREE10.Vector3());
+  const mouseWorldRef = useRef(new THREE10.Vector3());
   const arrowRef = useRef(null);
   const groupRef = useRef(null);
   useEffect(() => {
     if (!showArrow || !groupRef.current) return;
-    const arrow = new THREE11.ArrowHelper(
-      new THREE11.Vector3(0, 1, 0),
-      new THREE11.Vector3(),
+    const arrow = new THREE10.ArrowHelper(
+      new THREE10.Vector3(0, 1, 0),
+      new THREE10.Vector3(),
       0.1,
       16729156
     );
@@ -4282,7 +4249,7 @@ function useSceneLights(intensity = 1) {
       const dr = lightDiffuse ? lightDiffuse[3 * i] : 1;
       const dg = lightDiffuse ? lightDiffuse[3 * i + 1] : 1;
       const db = lightDiffuse ? lightDiffuse[3 * i + 2] : 1;
-      const color = new THREE11.Color(dr, dg, db);
+      const color = new THREE10.Color(dr, dg, db);
       const px = lightPos[3 * i];
       const py = lightPos[3 * i + 1];
       const pz = lightPos[3 * i + 2];
@@ -4290,7 +4257,7 @@ function useSceneLights(intensity = 1) {
       const dy = lightDir[3 * i + 1];
       const dz = lightDir[3 * i + 2];
       if (isDirectional) {
-        const light = new THREE11.DirectionalLight(color, finalIntensity);
+        const light = new THREE10.DirectionalLight(color, finalIntensity);
         light.position.set(px, py, pz);
         light.target.position.set(px + dx, py + dy, pz + dz);
         light.castShadow = castShadow;
@@ -4313,7 +4280,7 @@ function useSceneLights(intensity = 1) {
         const cutoff = lightCutoff ? lightCutoff[i] : 45;
         const exponent = lightExponent ? lightExponent[i] : 10;
         const angle = cutoff * Math.PI / 180;
-        const light = new THREE11.SpotLight(color, finalIntensity, 0, angle, exponent / 128);
+        const light = new THREE10.SpotLight(color, finalIntensity, 0, angle, exponent / 128);
         light.position.set(px, py, pz);
         light.target.position.set(px + dx, py + dy, pz + dz);
         light.castShadow = castShadow;
@@ -4596,12 +4563,12 @@ var JOINT_COLORS = {
   3: 16776960
   // hinge - yellow
 };
-var _v3a = new THREE11.Vector3();
-new THREE11.Vector3();
-var _quat2 = new THREE11.Quaternion();
-var _cameraMatrix = new THREE11.Matrix4();
-var _contactPos = new THREE11.Vector3();
-var _contactNormal = new THREE11.Vector3();
+var _v3a = new THREE10.Vector3();
+new THREE10.Vector3();
+var _quat2 = new THREE10.Quaternion();
+var _cameraMatrix = new THREE10.Matrix4();
+var _contactPos = new THREE10.Vector3();
+var _contactNormal = new THREE10.Vector3();
 var MAX_CONTACT_ARROWS = 50;
 var CAMERA_DEBUG_LENGTH = 0.12;
 var CAMERA_DEBUG_FRUSTUM_DEPTH = 0.08;
@@ -4634,21 +4601,21 @@ function Debug({
         let geometry = null;
         switch (type) {
           case 2:
-            geometry = new THREE11.SphereGeometry(s[3 * i], 12, 8);
+            geometry = new THREE10.SphereGeometry(s[3 * i], 12, 8);
             break;
           case 3:
-            geometry = new THREE11.CapsuleGeometry(s[3 * i], s[3 * i + 1] * 2, 6, 8);
+            geometry = new THREE10.CapsuleGeometry(s[3 * i], s[3 * i + 1] * 2, 6, 8);
             break;
           case 5:
-            geometry = new THREE11.CylinderGeometry(s[3 * i], s[3 * i], s[3 * i + 1] * 2, 12);
+            geometry = new THREE10.CylinderGeometry(s[3 * i], s[3 * i], s[3 * i + 1] * 2, 12);
             break;
           case 6:
-            geometry = new THREE11.BoxGeometry(s[3 * i] * 2, s[3 * i + 1] * 2, s[3 * i + 2] * 2);
+            geometry = new THREE10.BoxGeometry(s[3 * i] * 2, s[3 * i + 1] * 2, s[3 * i + 2] * 2);
             break;
         }
         if (geometry) {
-          const mat = new THREE11.MeshBasicMaterial({ color: 65280, wireframe: true, transparent: true, opacity: 0.3 });
-          const mesh = new THREE11.Mesh(geometry, mat);
+          const mat = new THREE10.MeshBasicMaterial({ color: 65280, wireframe: true, transparent: true, opacity: 0.3 });
+          const mesh = new THREE10.Mesh(geometry, mat);
           mesh.userData.geomId = i;
           mesh.userData.bodyId = model.geom_bodyid[i];
           geoms.push(mesh);
@@ -4671,9 +4638,9 @@ function Debug({
           }
           if (maxGeomSize > 0) radius = maxGeomSize * 0.15;
         }
-        const geometry = new THREE11.OctahedronGeometry(radius);
-        const mat = new THREE11.MeshBasicMaterial({ color: 16711935, depthTest: false });
-        const mesh = new THREE11.Mesh(geometry, mat);
+        const geometry = new THREE10.OctahedronGeometry(radius);
+        const mat = new THREE10.MeshBasicMaterial({ color: 16711935, depthTest: false });
+        const mesh = new THREE10.Mesh(geometry, mat);
         mesh.renderOrder = 999;
         mesh.frustumCulled = false;
         mesh.userData.siteId = i;
@@ -4685,9 +4652,9 @@ function Debug({
         ctx.font = "bold 36px monospace";
         ctx.textAlign = "center";
         ctx.fillText(getName(model, model.name_siteadr[i]), 128, 42);
-        const tex = new THREE11.CanvasTexture(canvas);
-        const spriteMat = new THREE11.SpriteMaterial({ map: tex, depthTest: false, transparent: true });
-        const sprite = new THREE11.Sprite(spriteMat);
+        const tex = new THREE10.CanvasTexture(canvas);
+        const spriteMat = new THREE10.SpriteMaterial({ map: tex, depthTest: false, transparent: true });
+        const sprite = new THREE10.Sprite(spriteMat);
         const labelScale = radius * 15;
         sprite.scale.set(labelScale, labelScale * 0.25, 1);
         sprite.position.y = radius * 2;
@@ -4710,9 +4677,9 @@ function Debug({
           }
         }
         const arrowLen = Math.max(maxGeomSize * 0.8, 0.05);
-        const arrow = new THREE11.ArrowHelper(
-          new THREE11.Vector3(0, 0, 1),
-          new THREE11.Vector3(),
+        const arrow = new THREE10.ArrowHelper(
+          new THREE10.Vector3(0, 0, 1),
+          new THREE10.Vector3(),
           arrowLen,
           color,
           arrowLen * 0.25,
@@ -4720,7 +4687,7 @@ function Debug({
         );
         arrow.renderOrder = 999;
         arrow.frustumCulled = false;
-        arrow.line.material = new THREE11.LineBasicMaterial({ color, depthTest: false });
+        arrow.line.material = new THREE10.LineBasicMaterial({ color, depthTest: false });
         arrow.cone.material.depthTest = false;
         arrow.line.renderOrder = 999;
         arrow.line.frustumCulled = false;
@@ -4735,20 +4702,20 @@ function Debug({
     }
     if (showCameras && model.ncam && model.name_camadr) {
       for (let i = 0; i < model.ncam; i++) {
-        const group = new THREE11.Group();
+        const group = new THREE10.Group();
         group.userData.cameraId = i;
         group.renderOrder = 999;
         group.frustumCulled = false;
-        const marker = new THREE11.Mesh(
-          new THREE11.BoxGeometry(0.014, 9e-3, 6e-3),
-          new THREE11.MeshBasicMaterial({ color: 3718648, depthTest: false })
+        const marker = new THREE10.Mesh(
+          new THREE10.BoxGeometry(0.014, 9e-3, 6e-3),
+          new THREE10.MeshBasicMaterial({ color: 3718648, depthTest: false })
         );
         marker.renderOrder = 999;
         marker.frustumCulled = false;
         group.add(marker);
-        const forward = new THREE11.ArrowHelper(
-          new THREE11.Vector3(0, 0, -1),
-          new THREE11.Vector3(),
+        const forward = new THREE10.ArrowHelper(
+          new THREE10.Vector3(0, 0, -1),
+          new THREE10.Vector3(),
           CAMERA_DEBUG_LENGTH,
           3718648,
           CAMERA_DEBUG_LENGTH * 0.24,
@@ -4756,20 +4723,20 @@ function Debug({
         );
         forward.renderOrder = 999;
         forward.frustumCulled = false;
-        forward.line.material = new THREE11.LineBasicMaterial({
+        forward.line.material = new THREE10.LineBasicMaterial({
           color: 3718648,
           depthTest: false
         });
         forward.cone.material.depthTest = false;
         group.add(forward);
-        const frustumGeometry = new THREE11.BufferGeometry();
+        const frustumGeometry = new THREE10.BufferGeometry();
         frustumGeometry.setAttribute(
           "position",
-          new THREE11.Float32BufferAttribute(new Float32Array(8 * 2 * 3), 3)
+          new THREE10.Float32BufferAttribute(new Float32Array(8 * 2 * 3), 3)
         );
-        const frustum = new THREE11.LineSegments(
+        const frustum = new THREE10.LineSegments(
           frustumGeometry,
-          new THREE11.LineBasicMaterial({
+          new THREE10.LineBasicMaterial({
             color: 3718648,
             transparent: true,
             opacity: 0.8,
@@ -4788,9 +4755,9 @@ function Debug({
         ctx.font = "bold 32px monospace";
         ctx.textAlign = "center";
         ctx.fillText(getName(model, model.name_camadr[i]), 128, 42);
-        const texture = new THREE11.CanvasTexture(canvas);
-        const sprite = new THREE11.Sprite(
-          new THREE11.SpriteMaterial({
+        const texture = new THREE10.CanvasTexture(canvas);
+        const sprite = new THREE10.Sprite(
+          new THREE10.SpriteMaterial({
             map: texture,
             depthTest: false,
             transparent: true
@@ -4806,9 +4773,9 @@ function Debug({
     }
     if (showCOM) {
       for (let i = 1; i < model.nbody; i++) {
-        const geometry = new THREE11.SphereGeometry(5e-3, 6, 6);
-        const mat = new THREE11.MeshBasicMaterial({ color: 16711680 });
-        const mesh = new THREE11.Mesh(geometry, mat);
+        const geometry = new THREE10.SphereGeometry(5e-3, 6, 6);
+        const mat = new THREE10.MeshBasicMaterial({ color: 16711680 });
+        const mesh = new THREE10.Mesh(geometry, mat);
         mesh.userData.bodyId = i;
         comMarkers.push(mesh);
       }
@@ -4917,7 +4884,7 @@ function Debug({
         );
         group.quaternion.setFromRotationMatrix(_cameraMatrix);
         const fovy = model.cam_fovy?.[cameraId] ?? 45;
-        const halfHeight = Math.tan(THREE11.MathUtils.degToRad(fovy) / 2) * CAMERA_DEBUG_FRUSTUM_DEPTH;
+        const halfHeight = Math.tan(THREE10.MathUtils.degToRad(fovy) / 2) * CAMERA_DEBUG_FRUSTUM_DEPTH;
         const halfWidth = halfHeight * 4 / 3;
         const positions = group.userData.frustum.geometry.attributes.position;
         const array = positions.array;
@@ -4962,9 +4929,9 @@ function Debug({
     contactPoolInitRef.current = true;
     const pool = [];
     for (let i = 0; i < MAX_CONTACT_ARROWS; i++) {
-      const arrow = new THREE11.ArrowHelper(
-        new THREE11.Vector3(0, 1, 0),
-        new THREE11.Vector3(),
+      const arrow = new THREE10.ArrowHelper(
+        new THREE10.Vector3(0, 1, 0),
+        new THREE10.Vector3(),
         0.1,
         16729156,
         0.03,
@@ -5029,9 +4996,9 @@ function Debug({
     }
   );
 }
-var DEFAULT_TENDON_COLOR = new THREE11.Color(0.3, 0.3, 0.8);
+var DEFAULT_TENDON_COLOR = new THREE10.Color(0.3, 0.3, 0.8);
 var DEFAULT_TENDON_WIDTH = 2e-3;
-new THREE11.Vector3();
+new THREE10.Vector3();
 function TendonRenderer(props) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const groupRef = useRef(null);
@@ -5045,7 +5012,7 @@ function TendonRenderer(props) {
     if (!model || !data || !group) return;
     const ntendon = model.ntendon ?? 0;
     if (ntendon === 0) return;
-    const material = new THREE11.MeshStandardMaterial({
+    const material = new THREE10.MeshStandardMaterial({
       color: DEFAULT_TENDON_COLOR,
       roughness: 0.6,
       metalness: 0.1
@@ -5060,11 +5027,11 @@ function TendonRenderer(props) {
         curves.push(null);
         continue;
       }
-      const points = Array.from({ length: wrapNum }, () => new THREE11.Vector3());
-      const curve = new THREE11.CatmullRomCurve3(points, false);
+      const points = Array.from({ length: wrapNum }, () => new THREE10.Vector3());
+      const curve = new THREE10.CatmullRomCurve3(points, false);
       const segments = Math.max(wrapNum * 2, 4);
-      const geometry = new THREE11.TubeGeometry(curve, segments, DEFAULT_TENDON_WIDTH, 6, false);
-      const mesh = new THREE11.Mesh(geometry, material);
+      const geometry = new THREE10.TubeGeometry(curve, segments, DEFAULT_TENDON_WIDTH, 6, false);
+      const mesh = new THREE10.Mesh(geometry, material);
       mesh.frustumCulled = false;
       group.add(mesh);
       meshes.push(mesh);
@@ -5119,11 +5086,11 @@ function TendonRenderer(props) {
       if (curve.points.length !== validCount) {
         curve.points.length = validCount;
         while (curve.points.length < validCount) {
-          curve.points.push(new THREE11.Vector3());
+          curve.points.push(new THREE10.Vector3());
         }
       }
       mesh.geometry.dispose();
-      mesh.geometry = new THREE11.TubeGeometry(
+      mesh.geometry = new THREE10.TubeGeometry(
         curve,
         Math.max(validCount * 2, 4),
         DEFAULT_TENDON_WIDTH,
@@ -5150,24 +5117,24 @@ function FlexRenderer(props) {
       const vertAdr = model.flex_vertadr[f];
       const vertNum = model.flex_vertnum[f];
       if (vertNum === 0) continue;
-      const geometry = new THREE11.BufferGeometry();
+      const geometry = new THREE10.BufferGeometry();
       const positions = new Float32Array(vertNum * 3);
-      geometry.setAttribute("position", new THREE11.BufferAttribute(positions, 3));
+      geometry.setAttribute("position", new THREE10.BufferAttribute(positions, 3));
       geometry.computeVertexNormals();
-      let color = new THREE11.Color(0.5, 0.5, 0.5);
+      let color = new THREE10.Color(0.5, 0.5, 0.5);
       if (model.flex_rgba) {
-        color = new THREE11.Color(
+        color = new THREE10.Color(
           model.flex_rgba[4 * f],
           model.flex_rgba[4 * f + 1],
           model.flex_rgba[4 * f + 2]
         );
       }
-      const material = new THREE11.MeshStandardMaterial({
+      const material = new THREE10.MeshStandardMaterial({
         color,
         roughness: 0.7,
-        side: THREE11.DoubleSide
+        side: THREE10.DoubleSide
       });
-      const mesh = new THREE11.Mesh(geometry, material);
+      const mesh = new THREE10.Mesh(geometry, material);
       mesh.userData.flexId = f;
       mesh.userData.vertAdr = vertAdr;
       mesh.userData.vertNum = vertNum;
@@ -5203,7 +5170,7 @@ function FlexRenderer(props) {
   return /* @__PURE__ */ jsx("group", { ...props, ref: groupRef });
 }
 var GEOM_TYPE_NAMES2 = ["plane", "hfield", "sphere", "capsule", "ellipsoid", "cylinder", "box", "mesh"];
-var _matrix = new THREE11.Matrix4();
+var _matrix = new THREE10.Matrix4();
 function getGeomInfo(model, geomId) {
   const size = model.geom_size.subarray(geomId * 3, geomId * 3 + 3);
   const type = model.geom_type[geomId];
@@ -5225,10 +5192,10 @@ function geomSignature(model, geomId) {
   return [type, size, mat, data, rgba].join("|");
 }
 function firstMesh(object) {
-  if (object instanceof THREE11.Mesh) return object;
+  if (object instanceof THREE10.Mesh) return object;
   let mesh = null;
   object.traverse((child) => {
-    if (!mesh && child instanceof THREE11.Mesh) mesh = child;
+    if (!mesh && child instanceof THREE10.Mesh) mesh = child;
   });
   return mesh;
 }
@@ -5522,12 +5489,12 @@ function useTrajectoryPlayer(trajectory, options = {}) {
     if ((optionsRef.current.mode ?? "kinematic") !== "kinematic") return;
     const traj = trajectoryRef.current;
     if (traj.length === 0) return;
-    const now = performance.now();
+    const now2 = performance.now();
     const fps = optionsRef.current.fps ?? 30;
     const frameInterval = 1e3 / (fps * speedRef.current);
-    const elapsed = now - lastFrameTimeRef.current;
+    const elapsed = now2 - lastFrameTimeRef.current;
     if (elapsed < frameInterval) return;
-    lastFrameTimeRef.current = now;
+    lastFrameTimeRef.current = now2;
     const model = mjModelRef.current;
     const data = mjDataRef.current;
     if (!model || !data) return;
@@ -5657,12 +5624,12 @@ function useActuators() {
     return actuators;
   }, [status, mjModelRef]);
 }
-var _mat42 = new THREE11.Matrix4();
+var _mat42 = new THREE10.Matrix4();
 function useSitePosition(siteName) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const siteIdRef = useRef(-1);
-  const positionRef = useRef(new THREE11.Vector3());
-  const quaternionRef = useRef(new THREE11.Quaternion());
+  const positionRef = useRef(new THREE10.Vector3());
+  const quaternionRef = useRef(new THREE10.Quaternion());
   useEffect(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") {
@@ -5855,10 +5822,10 @@ function useJointState(name, options = {}) {
 function useBodyState(name) {
   const { mjModelRef, status } = useMujocoContext();
   const bodyIdRef = useRef(-1);
-  const position = useRef(new THREE11.Vector3());
-  const quaternion = useRef(new THREE11.Quaternion());
-  const linearVelocity = useRef(new THREE11.Vector3());
-  const angularVelocity = useRef(new THREE11.Vector3());
+  const position = useRef(new THREE10.Vector3());
+  const quaternion = useRef(new THREE10.Quaternion());
+  const linearVelocity = useRef(new THREE10.Vector3());
+  const angularVelocity = useRef(new THREE10.Vector3());
   useEffect(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") return;
@@ -5884,6 +5851,93 @@ function useBodyState(name) {
   });
   return { position, quaternion, linearVelocity, angularVelocity };
 }
+var _matrix2 = new THREE10.Matrix4();
+function quaternionFromMatrixArray(target, values, offset) {
+  _matrix2.set(
+    values[offset],
+    values[offset + 1],
+    values[offset + 2],
+    0,
+    values[offset + 3],
+    values[offset + 4],
+    values[offset + 5],
+    0,
+    values[offset + 6],
+    values[offset + 7],
+    values[offset + 8],
+    0,
+    0,
+    0,
+    0,
+    1
+  );
+  target.setFromRotationMatrix(_matrix2);
+}
+function quaternionFromMujocoQuat2(target, values, offset) {
+  target.set(
+    values[offset + 1] ?? 0,
+    values[offset + 2] ?? 0,
+    values[offset + 3] ?? 0,
+    values[offset] ?? 1
+  );
+}
+function useNamedPose(kind, name) {
+  const { mjModelRef, status } = useMujocoContext();
+  const idRef = useRef(-1);
+  const foundRef = useRef(false);
+  const positionRef = useRef(new THREE10.Vector3());
+  const quaternionRef = useRef(new THREE10.Quaternion());
+  useEffect(() => {
+    const model = mjModelRef.current;
+    if (!model || status !== "ready") {
+      idRef.current = -1;
+      foundRef.current = false;
+      return;
+    }
+    if (kind === "body") idRef.current = findBodyByName(model, name);
+    else if (kind === "geom") idRef.current = findGeomByName(model, name);
+    else idRef.current = findSiteByName(model, name);
+    foundRef.current = idRef.current >= 0;
+  }, [kind, name, status, mjModelRef]);
+  useAfterPhysicsStep(({ data }) => {
+    const id = idRef.current;
+    if (id < 0) return;
+    if (kind === "body") {
+      const p2 = id * 3;
+      positionRef.current.set(data.xpos[p2], data.xpos[p2 + 1], data.xpos[p2 + 2]);
+      if (data.xmat) {
+        quaternionFromMatrixArray(quaternionRef.current, data.xmat, id * 9);
+      } else {
+        quaternionFromMujocoQuat2(quaternionRef.current, data.xquat, id * 4);
+      }
+      return;
+    }
+    if (kind === "geom") {
+      const p2 = id * 3;
+      positionRef.current.set(data.geom_xpos[p2], data.geom_xpos[p2 + 1], data.geom_xpos[p2 + 2]);
+      quaternionFromMatrixArray(quaternionRef.current, data.geom_xmat, id * 9);
+      return;
+    }
+    const p = id * 3;
+    positionRef.current.set(data.site_xpos[p], data.site_xpos[p + 1], data.site_xpos[p + 2]);
+    quaternionFromMatrixArray(quaternionRef.current, data.site_xmat, id * 9);
+  });
+  return {
+    id: idRef,
+    found: foundRef,
+    position: positionRef,
+    quaternion: quaternionRef
+  };
+}
+function useBodyPose(name) {
+  return useNamedPose("body", name);
+}
+function useGeomPose(name) {
+  return useNamedPose("geom", name);
+}
+function useSitePose(name) {
+  return useNamedPose("site", name);
+}
 function useCtrl(name) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const actuatorIdRef = useRef(-1);
@@ -5917,44 +5971,237 @@ function useCtrl(name) {
     }
   }), [name, mjDataRef]);
 }
-function useKeyboardTeleop(config) {
-  const { mjModelRef, mjDataRef, status } = useMujocoContext();
-  const pressedRef = useRef(/* @__PURE__ */ new Set());
-  const toggleStateRef = useRef(/* @__PURE__ */ new Map());
-  const enabledRef = useRef(config.enabled ?? true);
-  enabledRef.current = config.enabled ?? true;
-  const bindingsRef = useRef(config.bindings);
-  bindingsRef.current = config.bindings;
-  const actuatorCacheRef = useRef(/* @__PURE__ */ new Map());
+var claimsByModel = /* @__PURE__ */ new WeakMap();
+function getClaims(model) {
+  let claims = claimsByModel.get(model);
+  if (!claims) {
+    claims = /* @__PURE__ */ new Map();
+    claimsByModel.set(model, claims);
+  }
+  return claims;
+}
+function releaseClaims(model, token) {
+  if (!model) return;
+  const claims = claimsByModel.get(model);
+  if (!claims) return;
+  for (const [actuatorIndex, claim] of claims) {
+    if (claim.token === token) claims.delete(actuatorIndex);
+  }
+}
+function useControlWriter(options) {
+  const {
+    owner,
+    selector,
+    enabled = true,
+    warnOnConflict = true,
+    allowSameOwner = true,
+    onConflict
+  } = options;
+  const { api, mjModelRef, mjDataRef, status } = useMujocoContext();
+  const tokenRef = useRef(Symbol(owner));
+  const claimedModelRef = useRef(null);
+  const groupRef = useRef(null);
+  const conflictsRef = useRef([]);
+  const onConflictRef = useRef(onConflict);
+  onConflictRef.current = onConflict;
+  const release = useCallback(() => {
+    releaseClaims(claimedModelRef.current, tokenRef.current);
+    claimedModelRef.current = null;
+    conflictsRef.current = [];
+  }, []);
   useEffect(() => {
+    release();
+    if (!enabled || status !== "ready") {
+      groupRef.current = null;
+      return;
+    }
     const model = mjModelRef.current;
-    if (!model || status !== "ready") return;
-    const cache = /* @__PURE__ */ new Map();
-    for (const binding of Object.values(config.bindings)) {
-      if (!cache.has(binding.actuator)) {
-        cache.set(binding.actuator, findActuatorByName(model, binding.actuator));
+    if (!model) {
+      groupRef.current = null;
+      return;
+    }
+    const group = selector ? api.resolveControlGroup(selector) : api.getControlMap();
+    groupRef.current = group;
+    if (!group) return;
+    const claims = getClaims(model);
+    const conflicts = [];
+    for (const actuatorIndex of group.ctrlAdr) {
+      const existing = claims.get(actuatorIndex);
+      if (existing && existing.token !== tokenRef.current && (!allowSameOwner || existing.owner !== owner)) {
+        conflicts.push({
+          actuatorIndex,
+          owner: existing.owner,
+          requestedBy: owner
+        });
       }
     }
-    actuatorCacheRef.current = cache;
-  }, [config.bindings, status, mjModelRef]);
-  useEffect(() => {
-    const onKeyDown = (e) => {
-      if (!enabledRef.current) return;
-      const key = e.key.toLowerCase();
-      if (bindingsRef.current[key]) {
-        pressedRef.current.add(key);
-        const binding = bindingsRef.current[key];
-        if (binding.toggle) {
-          const current = toggleStateRef.current.get(key) ?? false;
-          toggleStateRef.current.set(key, !current);
-        }
+    conflictsRef.current = conflicts;
+    if (conflicts.length > 0) {
+      onConflictRef.current?.(conflicts);
+      if (warnOnConflict) {
+        console.warn(
+          `[mujoco-react] Control writer "${owner}" conflicts with existing writer(s): ${conflicts.map((conflict) => `${conflict.actuatorIndex}:${conflict.owner}`).join(", ")}`
+        );
       }
-    };
-    const onKeyUp = (e) => {
-      pressedRef.current.delete(e.key.toLowerCase());
-    };
-    window.addEventListener("keydown", onKeyDown);
-    window.addEventListener("keyup", onKeyUp);
+      return;
+    }
+    for (const actuatorIndex of group.ctrlAdr) {
+      claims.set(actuatorIndex, { owner, token: tokenRef.current });
+    }
+    claimedModelRef.current = model;
+    return release;
+  }, [allowSameOwner, api, enabled, mjModelRef, owner, release, selector, status, warnOnConflict]);
+  const canWrite = useCallback(() => enabled && groupRef.current !== null && conflictsRef.current.length === 0, [enabled]);
+  const read = useCallback(() => {
+    const data = mjDataRef.current;
+    const group = groupRef.current;
+    if (!data || !group) return new Float64Array(0);
+    return group.readCtrl(data);
+  }, [mjDataRef]);
+  const write = useCallback((values, writeOptions = {}) => {
+    const data = mjDataRef.current;
+    const group = groupRef.current;
+    if (!data || !group) return false;
+    if (!writeOptions.force && !canWrite()) return false;
+    group.writeCtrl(data, values);
+    return true;
+  }, [canWrite, mjDataRef]);
+  return useMemo(() => ({
+    owner,
+    group: groupRef,
+    conflicts: conflictsRef,
+    canWrite,
+    read,
+    write,
+    release
+  }), [canWrite, owner, read, release, write]);
+}
+var geomNameCacheByModel2 = /* @__PURE__ */ new WeakMap();
+var bodyNameCacheByModel = /* @__PURE__ */ new WeakMap();
+function getCachedName(cacheByModel, model, id, address) {
+  if (id < 0) return "";
+  let cache = cacheByModel.get(model);
+  if (!cache) {
+    cache = /* @__PURE__ */ new Map();
+    cacheByModel.set(model, cache);
+  }
+  let name = cache.get(id);
+  if (name === void 0) {
+    name = getName(model, address);
+    cache.set(id, name);
+  }
+  return name;
+}
+function matchesFilter(entry, bodyNames, geomNames, includeWorldBody) {
+  if (!includeWorldBody && (entry.body1 === 0 || entry.body2 === 0)) return false;
+  if (bodyNames && !bodyNames.includes(entry.body1Name) && !bodyNames.includes(entry.body2Name)) {
+    return false;
+  }
+  if (geomNames && !geomNames.includes(entry.geom1Name) && !geomNames.includes(entry.geom2Name)) {
+    return false;
+  }
+  return true;
+}
+function useContactHistory(options = {}) {
+  const entriesRef = useRef([]);
+  const optionsRef = useRef(options);
+  optionsRef.current = options;
+  const clear = useCallback(() => {
+    entriesRef.current = [];
+  }, []);
+  const countPair = useCallback((nameA, nameB) => {
+    let count = 0;
+    for (const entry of entriesRef.current) {
+      const matchesBodies = entry.body1Name === nameA && entry.body2Name === nameB || entry.body1Name === nameB && entry.body2Name === nameA;
+      const matchesGeoms = entry.geom1Name === nameA && entry.geom2Name === nameB || entry.geom1Name === nameB && entry.geom2Name === nameA;
+      if (matchesBodies || matchesGeoms) count += 1;
+    }
+    return count;
+  }, []);
+  useAfterPhysicsStep(({ model, data }) => {
+    if ((data.ncon ?? 0) <= 0) return;
+    const {
+      maxLength = 2e3,
+      bodyNames,
+      geomNames,
+      includeWorldBody = false
+    } = optionsRef.current;
+    if (maxLength <= 0) return;
+    const nextEntries = [];
+    withContacts(data, (contacts) => {
+      for (let index = 0; index < data.ncon; index += 1) {
+        const contact = getContact(contacts, index);
+        if (!contact) break;
+        const body1 = model.geom_bodyid[contact.geom1] ?? -1;
+        const body2 = model.geom_bodyid[contact.geom2] ?? -1;
+        const entry = {
+          geom1: contact.geom1,
+          geom2: contact.geom2,
+          geom1Name: getCachedName(geomNameCacheByModel2, model, contact.geom1, model.name_geomadr[contact.geom1]),
+          geom2Name: getCachedName(geomNameCacheByModel2, model, contact.geom2, model.name_geomadr[contact.geom2]),
+          body1,
+          body2,
+          body1Name: body1 >= 0 ? getCachedName(bodyNameCacheByModel, model, body1, model.name_bodyadr[body1]) : "",
+          body2Name: body2 >= 0 ? getCachedName(bodyNameCacheByModel, model, body2, model.name_bodyadr[body2]) : "",
+          pos: [contact.pos[0], contact.pos[1], contact.pos[2]],
+          depth: contact.dist,
+          time: data.time
+        };
+        if (matchesFilter(entry, bodyNames, geomNames, includeWorldBody)) {
+          nextEntries.push(entry);
+        }
+      }
+    });
+    if (nextEntries.length === 0) return;
+    entriesRef.current.push(...nextEntries);
+    if (entriesRef.current.length > maxLength) {
+      entriesRef.current.splice(0, entriesRef.current.length - maxLength);
+    }
+  });
+  return {
+    entries: entriesRef,
+    clear,
+    countPair
+  };
+}
+function useKeyboardTeleop(config) {
+  const { mjModelRef, mjDataRef, status } = useMujocoContext();
+  const pressedRef = useRef(/* @__PURE__ */ new Set());
+  const toggleStateRef = useRef(/* @__PURE__ */ new Map());
+  const enabledRef = useRef(config.enabled ?? true);
+  enabledRef.current = config.enabled ?? true;
+  const bindingsRef = useRef(config.bindings);
+  bindingsRef.current = config.bindings;
+  const actuatorCacheRef = useRef(/* @__PURE__ */ new Map());
+  useEffect(() => {
+    const model = mjModelRef.current;
+    if (!model || status !== "ready") return;
+    const cache = /* @__PURE__ */ new Map();
+    for (const binding of Object.values(config.bindings)) {
+      if (!cache.has(binding.actuator)) {
+        cache.set(binding.actuator, findActuatorByName(model, binding.actuator));
+      }
+    }
+    actuatorCacheRef.current = cache;
+  }, [config.bindings, status, mjModelRef]);
+  useEffect(() => {
+    const onKeyDown = (e) => {
+      if (!enabledRef.current) return;
+      const key = e.key.toLowerCase();
+      if (bindingsRef.current[key]) {
+        pressedRef.current.add(key);
+        const binding = bindingsRef.current[key];
+        if (binding.toggle) {
+          const current = toggleStateRef.current.get(key) ?? false;
+          toggleStateRef.current.set(key, !current);
+        }
+      }
+    };
+    const onKeyUp = (e) => {
+      pressedRef.current.delete(e.key.toLowerCase());
+    };
+    window.addEventListener("keydown", onKeyDown);
+    window.addEventListener("keyup", onKeyUp);
     return () => {
       window.removeEventListener("keydown", onKeyDown);
       window.removeEventListener("keyup", onKeyUp);
@@ -5982,9 +6229,9 @@ function useKeyboardTeleop(config) {
 }
 var DEFAULT_TRANSLATE_SPEED = 0.25;
 var DEFAULT_ROTATE_SPEED = 1;
-var _translation = new THREE11.Vector3();
-var _axis = new THREE11.Vector3();
-var _quat3 = new THREE11.Quaternion();
+var _translation = new THREE10.Vector3();
+var _axis = new THREE10.Vector3();
+var _quat3 = new THREE10.Quaternion();
 function actionSign(action) {
   return action.endsWith("+") ? 1 : -1;
 }
@@ -6109,29 +6356,114 @@ function useKeyboardIkTarget(config) {
     }
   });
 }
+function isPromiseLike(value) {
+  return typeof value === "object" && value !== null && "then" in value && typeof value.then === "function";
+}
+function isPolicyActionChunk(value) {
+  return Array.isArray(value) && value.length > 0 && (Array.isArray(value[0]) || ArrayBuffer.isView(value[0]));
+}
+function toPolicyActions(output) {
+  return isPolicyActionChunk(output) ? [...output] : [output];
+}
+function enqueuePolicyActions(queue, actions, observation, strategy) {
+  if (strategy === "replace") {
+    queue.splice(0, queue.length);
+  }
+  queue.push(...actions.map((action) => ({ action, observation })));
+}
 function usePolicy(config) {
   const lastActionTimeRef = useRef(0);
   const lastObservationRef = useRef(null);
   const lastActionRef = useRef(null);
+  const actionQueueRef = useRef([]);
+  const inFlightRef = useRef(false);
+  const lastErrorRef = useRef(null);
+  const epochRef = useRef(0);
   const isRunningRef = useRef(config.enabled ?? true);
   const configRef = useRef(config);
   configRef.current = config;
   isRunningRef.current = config.enabled ?? isRunningRef.current;
+  const clearQueue = useCallback(() => {
+    epochRef.current += 1;
+    actionQueueRef.current.splice(0, actionQueueRef.current.length);
+    inFlightRef.current = false;
+    lastErrorRef.current = null;
+  }, []);
+  const reset = useCallback(() => {
+    clearQueue();
+    lastActionTimeRef.current = 0;
+    lastObservationRef.current = null;
+    lastActionRef.current = null;
+  }, [clearQueue]);
   useBeforePhysicsStep(({ model, data }) => {
     if (!isRunningRef.current) return;
     const cfg = configRef.current;
     model.opt?.timestep ?? 2e-3;
     const interval = 1 / cfg.frequency;
     if (data.time - lastActionTimeRef.current >= interval) {
+      const queuedAction = actionQueueRef.current.shift();
+      if (queuedAction) {
+        cfg.onAction({
+          action: queuedAction.action,
+          observation: queuedAction.observation,
+          model,
+          data
+        });
+        lastActionTimeRef.current = data.time;
+        lastActionRef.current = queuedAction.action;
+      }
+      const prefetchThreshold = cfg.prefetchThreshold ?? 0;
+      const shouldInfer = !inFlightRef.current && (!queuedAction || actionQueueRef.current.length <= prefetchThreshold);
+      if (!shouldInfer) return;
       const observation = cfg.onObservation({ model, data });
-      const action = cfg.infer ? cfg.infer({ observation, model, data }) : observation;
-      cfg.onAction({ action, observation, model, data });
+      const result = cfg.infer ? cfg.infer({ observation, model, data }) : observation;
+      if (isPromiseLike(result)) {
+        const epoch = epochRef.current;
+        inFlightRef.current = true;
+        result.then((output) => {
+          if (epoch !== epochRef.current) return;
+          enqueuePolicyActions(
+            actionQueueRef.current,
+            toPolicyActions(output),
+            observation,
+            cfg.queueStrategy ?? "append"
+          );
+          lastErrorRef.current = null;
+        }).catch((error) => {
+          if (epoch !== epochRef.current) return;
+          lastErrorRef.current = error;
+          cfg.onError?.(error);
+        }).finally(() => {
+          if (epoch !== epochRef.current) return;
+          inFlightRef.current = false;
+        });
+      } else {
+        const actions = toPolicyActions(result);
+        if (queuedAction) {
+          enqueuePolicyActions(
+            actionQueueRef.current,
+            actions,
+            observation,
+            cfg.queueStrategy ?? "append"
+          );
+        } else {
+          const [action, ...queuedActions] = actions;
+          if (!action) return;
+          enqueuePolicyActions(
+            actionQueueRef.current,
+            queuedActions,
+            observation,
+            cfg.queueStrategy ?? "append"
+          );
+          cfg.onAction({ action, observation, model, data });
+          lastActionRef.current = action;
+        }
+      }
       lastActionTimeRef.current = data.time;
       lastObservationRef.current = observation;
-      lastActionRef.current = action;
     }
   });
-  return {
+  return useMemo(() => ({
     get isRunning() {
       return isRunningRef.current;
     },
@@ -6140,15 +6472,304 @@ function usePolicy(config) {
     },
     stop: () => {
       isRunningRef.current = false;
+      if (configRef.current.clearQueueOnStop) reset();
+    },
+    clearQueue,
+    reset,
+    get inFlight() {
+      return inFlightRef.current;
+    },
+    get queuedActions() {
+      return actionQueueRef.current.length;
     },
     get lastObservation() {
       return lastObservationRef.current;
     },
     get lastAction() {
       return lastActionRef.current;
+    },
+    get lastError() {
+      return lastErrorRef.current;
     }
+  }), [clearQueue, reset]);
+}
+function now() {
+  return typeof performance !== "undefined" ? performance.now() : Date.now();
+}
+function isAbortError(error) {
+  return typeof DOMException !== "undefined" && error instanceof DOMException && error.name === "AbortError" || error instanceof Error && error.name === "AbortError";
+}
+function createAbortError(message) {
+  if (typeof DOMException !== "undefined") {
+    return new DOMException(message, "AbortError");
+  }
+  const error = new Error(message);
+  error.name = "AbortError";
+  return error;
+}
+function abortController(controller, reason) {
+  if (!controller || controller.signal.aborted) return;
+  if (reason !== void 0) {
+    controller.abort(reason);
+  } else {
+    controller.abort();
+  }
+}
+function createMergedAbortSignal(localSignal, externalSignal) {
+  if (!externalSignal) return localSignal;
+  if (externalSignal.aborted) {
+    const controller2 = new AbortController();
+    abortController(controller2, externalSignal.reason);
+    return controller2.signal;
+  }
+  if (typeof AbortSignal !== "undefined" && typeof AbortSignal.any === "function") {
+    return AbortSignal.any([localSignal, externalSignal]);
+  }
+  const controller = new AbortController();
+  const abortFromLocal = () => abortController(controller, localSignal.reason);
+  const abortFromExternal = () => abortController(controller, externalSignal.reason);
+  localSignal.addEventListener("abort", abortFromLocal, { once: true });
+  externalSignal.addEventListener("abort", abortFromExternal, { once: true });
+  return controller.signal;
+}
+function vectorToArray(vector) {
+  return Array.from(vector, (value) => Number(value));
+}
+function isPolicyVectorArray(value) {
+  return Array.isArray(value) && value.every((entry) => Array.isArray(entry) || ArrayBuffer.isView(entry));
+}
+function isPolicyVector(value) {
+  return Array.isArray(value) || ArrayBuffer.isView(value);
+}
+function defaultBuildRemotePolicyRequest(input) {
+  const observation = vectorToArray(input.observation);
+  return {
+    observation,
+    state: observation,
+    time: input.data.time,
+    reset: input.reset
   };
 }
+async function defaultReadRemotePolicyResponse(response) {
+  const text = await response.text();
+  if (text.length === 0) return null;
+  return JSON.parse(text);
+}
+function defaultParseRemotePolicyResponse(responseBody) {
+  if (responseBody && typeof responseBody === "object") {
+    const body = responseBody;
+    if (typeof body.error === "string" && body.error.length > 0) {
+      throw new Error(body.error);
+    }
+    if (isPolicyVectorArray(body.actions) && body.actions.length > 0) {
+      return body.actions;
+    }
+    if (isPolicyVector(body.action)) {
+      return body.action;
+    }
+  }
+  if (isPolicyVectorArray(responseBody) && responseBody.length > 0) {
+    return responseBody;
+  }
+  if (isPolicyVector(responseBody)) {
+    return responseBody;
+  }
+  throw new Error("Remote policy response must include `action` or `actions`.");
+}
+function createHttpError(response, responseBody) {
+  const suffix = responseBody && typeof responseBody === "object" && "error" in responseBody ? `: ${String(responseBody.error)}` : "";
+  return new Error(`Remote policy request failed with HTTP ${response.status}${suffix}`);
+}
+function useRemotePolicy(config) {
+  const configRef = useRef(config);
+  configRef.current = config;
+  const requestCountRef = useRef(0);
+  const responseCountRef = useRef(0);
+  const remoteStatusRef = useRef("idle");
+  const lastRequestBodyRef = useRef(null);
+  const lastResponseBodyRef = useRef(null);
+  const lastHttpStatusRef = useRef(null);
+  const lastRequestMsRef = useRef(null);
+  const abortControllerRef = useRef(null);
+  const remoteEpochRef = useRef(0);
+  const policy = usePolicy({
+    ...config,
+    infer: async ({ observation, model, data }) => {
+      const cfg = configRef.current;
+      abortController(abortControllerRef.current, createAbortError("Remote policy request was superseded."));
+      const controller = new AbortController();
+      abortControllerRef.current = controller;
+      const signal = createMergedAbortSignal(controller.signal, cfg.signal);
+      const remoteEpoch = remoteEpochRef.current;
+      const requestIndex = requestCountRef.current;
+      const requestInput = {
+        observation,
+        model,
+        data,
+        reset: requestIndex === 0,
+        requestIndex,
+        signal
+      };
+      requestCountRef.current += 1;
+      const requestStartedAt = now();
+      const body = await (cfg.buildRequest?.(requestInput) ?? defaultBuildRemotePolicyRequest(requestInput));
+      signal.throwIfAborted();
+      if (remoteEpoch !== remoteEpochRef.current) {
+        throw createAbortError("Remote policy request was reset.");
+      }
+      lastRequestBodyRef.current = body;
+      remoteStatusRef.current = "requesting";
+      cfg.onRequest?.({
+        ...requestInput,
+        body,
+        requestStartedAt
+      });
+      let response = null;
+      let responseBody = null;
+      try {
+        const headers = new Headers(cfg.headers);
+        if (!headers.has("content-type")) {
+          headers.set("content-type", "application/json");
+        }
+        const fetcher = cfg.fetcher ?? fetch;
+        response = await fetcher(String(cfg.endpoint), {
+          ...cfg.requestInit,
+          method: cfg.method ?? "POST",
+          credentials: cfg.credentials,
+          headers,
+          signal,
+          body: typeof body === "string" ? body : JSON.stringify(body)
+        });
+        if (remoteEpoch === remoteEpochRef.current) {
+          lastHttpStatusRef.current = response.status;
+        }
+        responseBody = await (cfg.readResponse?.(response) ?? defaultReadRemotePolicyResponse(response));
+        signal.throwIfAborted();
+        if (remoteEpoch !== remoteEpochRef.current) {
+          throw createAbortError("Remote policy request was reset.");
+        }
+        lastResponseBodyRef.current = responseBody;
+        if (!response.ok) {
+          throw createHttpError(response, responseBody);
+        }
+        const responseFinishedAt = now();
+        const info = {
+          ...requestInput,
+          body,
+          requestStartedAt,
+          response,
+          responseBody,
+          responseFinishedAt,
+          requestMs: responseFinishedAt - requestStartedAt
+        };
+        if (remoteEpoch === remoteEpochRef.current) {
+          lastRequestMsRef.current = info.requestMs;
+          responseCountRef.current += 1;
+        }
+        cfg.onResponse?.(info);
+        const output = await (cfg.parseResponse?.(responseBody, info) ?? defaultParseRemotePolicyResponse(responseBody));
+        if (remoteEpoch === remoteEpochRef.current) {
+          remoteStatusRef.current = "ready";
+        }
+        return output;
+      } catch (error) {
+        if (response && remoteEpoch === remoteEpochRef.current) {
+          lastHttpStatusRef.current = response.status;
+        }
+        if (isAbortError(error) || signal.aborted) {
+          if (remoteEpoch === remoteEpochRef.current) {
+            remoteStatusRef.current = "aborted";
+          }
+          throw error;
+        }
+        if (remoteEpoch === remoteEpochRef.current) {
+          remoteStatusRef.current = "error";
+        }
+        throw error;
+      } finally {
+        if (abortControllerRef.current === controller) {
+          abortControllerRef.current = null;
+        }
+      }
+    }
+  });
+  return useMemo(() => {
+    const abort = (reason) => {
+      abortController(abortControllerRef.current, reason);
+      if (abortControllerRef.current) {
+        remoteStatusRef.current = "aborted";
+      }
+    };
+    const resetRemoteState = () => {
+      remoteEpochRef.current += 1;
+      abort(createAbortError("Remote policy request was reset."));
+      requestCountRef.current = 0;
+      responseCountRef.current = 0;
+      remoteStatusRef.current = "idle";
+      lastRequestBodyRef.current = null;
+      lastResponseBodyRef.current = null;
+      lastHttpStatusRef.current = null;
+      lastRequestMsRef.current = null;
+    };
+    return {
+      get isRunning() {
+        return policy.isRunning;
+      },
+      start: policy.start,
+      stop: () => {
+        if (configRef.current.abortOnStop ?? true) {
+          abort(createAbortError("Remote policy request was stopped."));
+        }
+        policy.stop();
+        if (configRef.current.clearQueueOnStop) {
+          resetRemoteState();
+        }
+      },
+      clearQueue: policy.clearQueue,
+      abort,
+      reset: () => {
+        resetRemoteState();
+        policy.reset();
+      },
+      get inFlight() {
+        return policy.inFlight;
+      },
+      get queuedActions() {
+        return policy.queuedActions;
+      },
+      get lastObservation() {
+        return policy.lastObservation;
+      },
+      get lastAction() {
+        return policy.lastAction;
+      },
+      get lastError() {
+        return policy.lastError;
+      },
+      get remoteStatus() {
+        return remoteStatusRef.current;
+      },
+      get requestCount() {
+        return requestCountRef.current;
+      },
+      get responseCount() {
+        return responseCountRef.current;
+      },
+      get lastRequestBody() {
+        return lastRequestBodyRef.current;
+      },
+      get lastResponseBody() {
+        return lastResponseBodyRef.current;
+      },
+      get lastHttpStatus() {
+        return lastHttpStatusRef.current;
+      },
+      get lastRequestMs() {
+        return lastRequestMsRef.current;
+      }
+    };
+  }, [policy]);
+}
 var EMPTY_OBSERVATION = {
   values: new Float32Array(0),
   layout: []
@@ -6169,6 +6790,134 @@ function useObservation(config) {
     }
   }), [mjDataRef, mjModelRef]);
 }
+
+// src/policyObservation.ts
+function pushValues(target, value, size) {
+  if (typeof value === "number") {
+    target.push(value);
+    for (let index = 1; index < size; index += 1) target.push(0);
+    return;
+  }
+  for (let index = 0; index < size; index += 1) {
+    target.push(Number(value[index] ?? 0));
+  }
+}
+function readNamedObservation(model, data, options) {
+  const values = [];
+  const layout = [];
+  const missing = options.missing ?? "skip";
+  for (const field of options.fields) {
+    const start = values.length;
+    const value = field.read({ model, data });
+    if (value === null || value === void 0) {
+      if (missing === "skip") continue;
+      if (missing === "throw") {
+        throw new Error(`Unable to read named observation field "${field.name}".`);
+      }
+      for (let index = 0; index < field.size; index += 1) values.push(0);
+    } else {
+      pushValues(values, value, field.size);
+    }
+    layout.push({
+      name: field.name,
+      start,
+      size: field.size,
+      units: field.units
+    });
+  }
+  return {
+    values: options.output === "float64" ? new Float64Array(values) : new Float32Array(values),
+    layout
+  };
+}
+function createNamedObservationBuilder(options) {
+  return (model, data) => readNamedObservation(model, data, options);
+}
+function qposField(name, index, units = "qpos") {
+  return {
+    name,
+    size: 1,
+    units,
+    read: ({ data }) => data.qpos[index]
+  };
+}
+function qvelField(name, index, units = "qvel") {
+  return {
+    name,
+    size: 1,
+    units,
+    read: ({ data }) => data.qvel[index]
+  };
+}
+function ctrlField(name, index, units = "ctrl") {
+  return {
+    name,
+    size: 1,
+    units,
+    read: ({ data }) => data.ctrl[index]
+  };
+}
+function bodyPositionField(name, units = "world_position") {
+  return {
+    name: `body:${name}:xpos`,
+    size: 3,
+    units,
+    read: ({ model, data }) => {
+      const bodyId = findBodyByName(model, name);
+      if (bodyId < 0) return null;
+      const offset = bodyId * 3;
+      return data.xpos.subarray(offset, offset + 3);
+    }
+  };
+}
+function geomPositionField(name, units = "world_position") {
+  return {
+    name: `geom:${name}:xpos`,
+    size: 3,
+    units,
+    read: ({ model, data }) => {
+      const geomId = findGeomByName(model, name);
+      if (geomId < 0) return null;
+      const offset = geomId * 3;
+      return data.geom_xpos.subarray(offset, offset + 3);
+    }
+  };
+}
+function sitePositionField(name, units = "world_position") {
+  return {
+    name: `site:${name}:xpos`,
+    size: 3,
+    units,
+    read: ({ model, data }) => {
+      const siteId = findSiteByName(model, name);
+      if (siteId < 0) return null;
+      const offset = siteId * 3;
+      return data.site_xpos.subarray(offset, offset + 3);
+    }
+  };
+}
+
+// src/hooks/useNamedObservation.ts
+var EMPTY_NAMED_OBSERVATION = {
+  values: new Float32Array(0),
+  layout: []
+};
+function useNamedObservation(options) {
+  const { mjModelRef, mjDataRef } = useMujocoContext();
+  const optionsRef = useRef(options);
+  optionsRef.current = options;
+  return useMemo(() => ({
+    read() {
+      const model = mjModelRef.current;
+      const data = mjDataRef.current;
+      if (!model || !data) return EMPTY_NAMED_OBSERVATION;
+      return readNamedObservation(model, data, optionsRef.current);
+    },
+    readValues() {
+      return this.read().values;
+    }
+  }), [mjDataRef, mjModelRef]);
+}
 function useTrajectoryRecorder(options = {}) {
   const { mjModelRef } = useMujocoContext();
   const recordingRef = useRef(false);
@@ -6404,6 +7153,223 @@ function useCameraFrameCapture(defaultOptions = {}) {
     reset
   };
 }
+
+// src/policyCameraFrames.ts
+function addPolicyImageAliases(images, stream, frame, includeObservationImageAliases) {
+  const keys = /* @__PURE__ */ new Set();
+  keys.add(stream.key);
+  for (const alias of stream.aliases ?? []) keys.add(alias);
+  if (includeObservationImageAliases) {
+    keys.add(`observation.images.${stream.key}`);
+    for (const alias of stream.aliases ?? []) {
+      keys.add(`observation.images.${alias}`);
+    }
+  }
+  for (const key of keys) {
+    images[key] = frame.dataUrl;
+  }
+}
+function describeFrameSource(key, frame) {
+  return `${key}:${frame.source.kind}`;
+}
+function hasExplicitPolicyCameraSource(options) {
+  return Boolean(
+    options?.camera || options?.position || options?.quaternion || options?.source
+  );
+}
+function createPolicyCameraFrameCapturePlan(options) {
+  const {
+    cameraKeys,
+    defaults,
+    streamOptions,
+    includeObservationImageAliases,
+    requireAll,
+    ...sourceOptions
+  } = options;
+  const mountedPlan = createMountedCameraFrameSequencePlan(cameraKeys, {
+    ...sourceOptions,
+    defaults,
+    cameraOptions: streamOptions
+  });
+  const streams = [];
+  const missingKeys = new Set(mountedPlan.missingKeys);
+  for (const key of cameraKeys) {
+    const perStreamOptions = streamOptions?.[key];
+    if (hasExplicitPolicyCameraSource(perStreamOptions)) {
+      missingKeys.delete(key);
+      streams.push({
+        ...defaults,
+        ...perStreamOptions,
+        key,
+        aliases: perStreamOptions?.aliases
+      });
+      continue;
+    }
+    const mountedCamera = mountedPlan.cameras.find((camera) => camera.key === key);
+    if (!mountedCamera) continue;
+    const { key: _mountedKey, ...captureOptions } = mountedCamera;
+    streams.push({
+      ...captureOptions,
+      key,
+      aliases: perStreamOptions?.aliases
+    });
+  }
+  const result = {
+    cameraKeys: [...cameraKeys],
+    streams,
+    includeObservationImageAliases,
+    mountedPlan,
+    missingKeys: [...missingKeys]
+  };
+  if (requireAll && result.missingKeys.length > 0) {
+    throw new Error(
+      `Unable to resolve policy camera stream${result.missingKeys.length === 1 ? "" : "s"} for ${result.missingKeys.join(", ")}.`
+    );
+  }
+  return result;
+}
+function createPolicyCameraFrameCapturePlanFromApi(api, options) {
+  return createPolicyCameraFrameCapturePlan({
+    ...options,
+    cameras: api.getCameras(),
+    sites: api.getSites(),
+    bodies: api.getBodies()
+  });
+}
+async function capturePolicyCameraFrames(target, options) {
+  const includeObservationImageAliases = options.includeObservationImageAliases ?? true;
+  const entries = await Promise.all(
+    options.streams.map(async ({ key, aliases, ...captureOptions }) => {
+      const frame = await target.captureCameraFrame(captureOptions);
+      return [key, { frame, aliases }];
+    })
+  );
+  const frames = {};
+  const images = {};
+  const sourceParts = [];
+  for (const [key, { frame, aliases }] of entries) {
+    const stream = { key, aliases };
+    frames[key] = frame;
+    addPolicyImageAliases(
+      images,
+      stream,
+      frame,
+      includeObservationImageAliases
+    );
+    sourceParts.push(describeFrameSource(key, frame));
+  }
+  return {
+    frames,
+    images,
+    sourceSummary: sourceParts.length > 0 ? sourceParts.join(" + ") : "not used by policy",
+    capturedAt: Date.now()
+  };
+}
+async function capturePolicyCameraFramesFromMountedStreams(target, options) {
+  const plan = createPolicyCameraFrameCapturePlanFromApi(target, options);
+  const result = await capturePolicyCameraFrames(target, plan);
+  return { ...result, plan };
+}
+
+// src/hooks/usePolicyCameraFrames.ts
+function mergePolicyCameraFrameCaptureOptions(defaultOptions, options) {
+  return {
+    ...defaultOptions,
+    ...options,
+    cameraKeys: options.cameraKeys ?? defaultOptions.cameraKeys,
+    aliases: {
+      ...defaultOptions.aliases,
+      ...options.aliases
+    },
+    defaults: {
+      ...defaultOptions.defaults,
+      ...options.defaults
+    },
+    streamOptions: {
+      ...defaultOptions.streamOptions,
+      ...options.streamOptions
+    }
+  };
+}
+function usePolicyCameraFrames(defaultOptions) {
+  const mujoco = useMujoco();
+  const [status, setStatus] = useState("idle");
+  const [error, setError] = useState(null);
+  const reset = useCallback(() => {
+    setStatus("idle");
+    setError(null);
+  }, []);
+  const capture = useCallback(
+    async (options = {}) => {
+      if (!mujoco.api) {
+        throw new Error("MuJoCo scene is not ready for policy camera capture.");
+      }
+      setStatus("capturing");
+      setError(null);
+      try {
+        const result = await capturePolicyCameraFrames(mujoco.api, {
+          ...defaultOptions,
+          ...options,
+          streams: options.streams ?? defaultOptions.streams
+        });
+        setStatus("captured");
+        return result;
+      } catch (nextError) {
+        const error2 = nextError instanceof Error ? nextError : new Error("Unable to capture policy camera frames.");
+        setError(error2);
+        setStatus("error");
+        throw error2;
+      }
+    },
+    [defaultOptions, mujoco.api]
+  );
+  return {
+    status,
+    error,
+    isCapturing: status === "capturing",
+    capture,
+    reset
+  };
+}
+function usePolicyCameraFramesFromMountedStreams(defaultOptions) {
+  const mujoco = useMujoco();
+  const [status, setStatus] = useState("idle");
+  const [error, setError] = useState(null);
+  const reset = useCallback(() => {
+    setStatus("idle");
+    setError(null);
+  }, []);
+  const capture = useCallback(
+    async (options = {}) => {
+      if (!mujoco.api) {
+        throw new Error("MuJoCo scene is not ready for mounted policy camera capture.");
+      }
+      setStatus("capturing");
+      setError(null);
+      try {
+        const result = await capturePolicyCameraFramesFromMountedStreams(
+          mujoco.api,
+          mergePolicyCameraFrameCaptureOptions(defaultOptions, options)
+        );
+        setStatus("captured");
+        return result;
+      } catch (nextError) {
+        const error2 = nextError instanceof Error ? nextError : new Error("Unable to capture mounted policy camera frames.");
+        setError(error2);
+        setStatus("error");
+        throw error2;
+      }
+    },
+    [defaultOptions, mujoco.api]
+  );
+  return {
+    status,
+    error,
+    isCapturing: status === "capturing",
+    capture,
+    reset
+  };
+}
 function useCameraSequenceRecorder() {
   const mujoco = useMujoco();
   const [status, setStatus] = useState("idle");
@@ -6524,6 +7490,38 @@ function useMountedCameraSequenceRecorder(defaultOptions = {}) {
     reset
   };
 }
+
+// src/policyControls.ts
+function clampPolicyActionValue(model, actuatorIndex, value) {
+  const ranges = model.actuator_ctrlrange;
+  const min = ranges?.[actuatorIndex * 2] ?? -Infinity;
+  const max = ranges?.[actuatorIndex * 2 + 1] ?? Infinity;
+  return Math.max(min, Math.min(max, value));
+}
+function applyPolicyActionToControls(model, data, action, options = {}) {
+  const actuatorOffset = options.actuatorOffset ?? 0;
+  const actionSize = options.actionSize ?? action.length;
+  const shouldClamp = options.clamp ?? true;
+  const shouldSkipInvalid = options.skipInvalid ?? true;
+  const count = Math.max(
+    0,
+    Math.min(actionSize, action.length, data.ctrl.length - actuatorOffset, model.nu - actuatorOffset)
+  );
+  const applied = [];
+  const skipped = [];
+  for (let index = 0; index < count; index += 1) {
+    const actuatorIndex = actuatorOffset + index;
+    const value = Number(action[index]);
+    if (shouldSkipInvalid && !Number.isFinite(value)) {
+      skipped.push(actuatorIndex);
+      continue;
+    }
+    const nextValue = shouldClamp ? clampPolicyActionValue(model, actuatorIndex, value) : value;
+    data.ctrl[actuatorIndex] = nextValue;
+    applied.push(nextValue);
+  }
+  return { applied, skipped, actuatorOffset };
+}
 function useCtrlNoise(config = {}) {
   const { mjModelRef } = useMujocoContext();
   const configRef = useRef(config);
@@ -6575,7 +7573,7 @@ function useSelectionHighlight(bodyId, options = {}) {
       }
     }
     prevRef.current = [];
-    const highlightColor = new THREE11.Color(color);
+    const highlightColor = new THREE10.Color(color);
     for (const mesh of meshes) {
       const mat = mesh.material;
       if (mat.emissive) {
@@ -6602,15 +7600,15 @@ function useSelectionHighlight(bodyId, options = {}) {
 }
 function useCameraAnimation() {
   const { camera } = useThree();
-  const orbitTargetRef = useRef(new THREE11.Vector3(0, 0, 0));
+  const orbitTargetRef = useRef(new THREE10.Vector3(0, 0, 0));
   const cameraAnimRef = useRef({
     active: false,
-    startPos: new THREE11.Vector3(),
-    endPos: new THREE11.Vector3(),
-    startRot: new THREE11.Quaternion(),
-    endRot: new THREE11.Quaternion(),
-    startTarget: new THREE11.Vector3(),
-    endTarget: new THREE11.Vector3(),
+    startPos: new THREE10.Vector3(),
+    endPos: new THREE10.Vector3(),
+    startRot: new THREE10.Quaternion(),
+    endRot: new THREE10.Quaternion(),
+    startTarget: new THREE10.Vector3(),
+    endTarget: new THREE10.Vector3(),
     startTime: 0,
     duration: 0,
     resolve: null
@@ -6618,8 +7616,8 @@ function useCameraAnimation() {
   useFrame((state) => {
     const ca = cameraAnimRef.current;
     if (!ca.active) return;
-    const now = performance.now();
-    const progress = Math.min((now - ca.startTime) / ca.duration, 1);
+    const now2 = performance.now();
+    const progress = Math.min((now2 - ca.startTime) / ca.duration, 1);
     const ease = progress < 0.5 ? 4 * progress * progress * progress : 1 - Math.pow(-2 * progress + 2, 3) / 2;
     camera.position.lerpVectors(ca.startPos, ca.endPos, ease);
     camera.quaternion.slerpQuaternions(ca.startRot, ca.endRot, ease);
@@ -6785,12 +7783,30 @@ function useCameraAnimation() {
  *
  * useBodyState — per-body position/velocity tracking (spec 2.2)
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Ref-based world pose hooks for named MuJoCo bodies, geoms, and sites.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
  *
  * useCtrl — handle-based read/write access to a named actuator's ctrl value (spec 3.1)
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Cooperative actuator/control ownership for policies, IK, teleop, and replay.
+ */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Bounded contact history for rollout verification and debugging.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -6803,6 +7819,24 @@ function useCameraAnimation() {
  *
  * usePolicy — policy decimation loop hook (spec 10.1)
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * useRemotePolicy — HTTP JSON inference wrapper around usePolicy.
+ */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Named policy observation builders with layout and units metadata.
+ */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Stable React handle for named policy observations.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -6827,6 +7861,18 @@ function useCameraAnimation() {
  *
  * React state wrapper around MuJoCo/R3F offscreen camera-frame capture.
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Helpers for turning Three/MuJoCo camera captures into policy image payloads.
+ */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * React wrapper for capturing policy image payloads from Three/MuJoCo cameras.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -6839,6 +7885,12 @@ function useCameraAnimation() {
  *
  * React state wrapper for named MuJoCo camera/site/body sequence recording.
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Helpers for applying policy action vectors to MuJoCo controls.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -6869,6 +7921,6 @@ function useCameraAnimation() {
  * useCameraAnimation — composable camera animation hook.
  */
 
-export { Body, ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkGizmo, InstancedGeomRenderer, MountedCameraFrameSequenceManifestStatus, MountedCameraFrameSequenceReadinessStatus, MountedCameraFrameSourceSuggestionMatch, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, SplatCollisionProxyPreview, TendonRenderer, TrajectoryPlayer, buildObservation, canFetchSplatCollisionProxyXml, captureFrame, captureFrameBlob, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, recordMountedCameraFrameSequence, 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, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { Body, ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkGizmo, InstancedGeomRenderer, MountedCameraFrameSequenceManifestStatus, MountedCameraFrameSequenceReadinessStatus, MountedCameraFrameSourceSuggestionMatch, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, SplatCollisionProxyPreview, TendonRenderer, TrajectoryPlayer, applyPolicyActionToControls, bodyPositionField, buildObservation, canFetchSplatCollisionProxyXml, captureFrame, captureFrameBlob, capturePolicyCameraFrames, capturePolicyCameraFramesFromMountedStreams, clampPolicyActionValue, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createNamedObservationBuilder, createPolicyCameraFrameCapturePlan, createPolicyCameraFrameCapturePlanFromApi, ctrlField, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, geomPositionField, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, qposField, qvelField, readNamedObservation, recordMountedCameraFrameSequence, 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, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
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