mujoco-react 10.1.0 → 10.2.1

package/dist/index.js

@@ -1,11 +1,11 @@
-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 { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, CAPTURE_EXCLUDE_KEY } from './chunk-CYDGWNKQ.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-CYDGWNKQ.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 THREE10 from 'three';
+import * as THREE11 from 'three';
 import { PivotControls } from '@react-three/drei';
 
 var MujocoContext = createContext({
@@ -105,16 +105,16 @@ function MujocoProvider({
     }
   );
 }
-var CapsuleGeometry = class extends THREE10.BufferGeometry {
+var CapsuleGeometry = class extends THREE11.BufferGeometry {
   parameters;
   constructor(radius = 1, length = 1, capSegments = 4, radialSegments = 8) {
     super();
     this.type = "CapsuleGeometry";
     this.parameters = { radius, length, capSegments, radialSegments };
-    const path = new THREE10.Path();
+    const path = new THREE11.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 THREE10.LatheGeometry(path.getPoints(capSegments), radialSegments);
+    const latheGeometry = new THREE11.LatheGeometry(path.getPoints(capSegments), radialSegments);
     const self = this;
     self.setIndex(latheGeometry.getIndex());
     self.setAttribute("position", latheGeometry.getAttribute("position"));
@@ -930,10 +930,10 @@ var GeomBuilder = class {
       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;
+    const texture = new THREE11.DataTexture(rgba, width, height, THREE11.RGBAFormat);
+    texture.colorSpace = THREE11.LinearSRGBColorSpace;
+    texture.wrapS = THREE11.RepeatWrapping;
+    texture.wrapT = THREE11.RepeatWrapping;
     texture.flipY = true;
     const repeatOffset = matId * 2;
     const repeatS = mjModel.mat_texrepeat?.[repeatOffset] ?? 1;
@@ -954,7 +954,7 @@ var GeomBuilder = class {
     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 color = new THREE11.Color(16777215);
     const map = this.getMaterialTexture(mjModel, matId);
     let opacity = 1;
     if (matId >= 0) {
@@ -970,16 +970,16 @@ var GeomBuilder = class {
     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);
+      geo = new THREE11.PlaneGeometry(size[0] * 2 || 5, size[1] * 2 || 5);
     } else if (type === getVal(MG.mjGEOM_SPHERE)) {
-      geo = new THREE10.SphereGeometry(size[0], 24, 24);
+      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 THREE10.BoxGeometry(size[0] * 2, size[1] * 2, size[2] * 2);
+      geo = new THREE11.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 = 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];
@@ -987,8 +987,8 @@ var GeomBuilder = class {
       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 = 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();
     }
@@ -999,7 +999,7 @@ var GeomBuilder = class {
         materialMap.repeat.multiplyScalar(2.5);
         materialMap.needsUpdate = true;
       }
-      const mesh = new THREE10.Mesh(geo, new THREE10.MeshStandardMaterial({
+      const mesh = new THREE11.Mesh(geo, new THREE11.MeshStandardMaterial({
         color,
         map: materialMap,
         transparent: opacity < 1,
@@ -1050,7 +1050,7 @@ function SceneRenderer(props) {
     }
     const refs = [];
     for (let i = 0; i < model.nbody; i++) {
-      const bodyGroup = new THREE10.Group();
+      const bodyGroup = new THREE11.Group();
       bodyGroup.userData.bodyID = i;
       const bodyName = getName(model, model.name_bodyadr[i]);
       if (!hiddenBodiesRef.current.has(bodyName)) {
@@ -1079,9 +1079,9 @@ function SceneRenderer(props) {
         const alpha = interpolation.alpha;
         const i3 = i * 3;
         ref.position.set(
-          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)
+          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)
         );
         const i4 = i * 4;
         _previousQuat.set(
@@ -1141,8 +1141,8 @@ function SceneRenderer(props) {
     }
   );
 }
-var _previousQuat = new THREE10.Quaternion();
-var _currentQuat = new THREE10.Quaternion();
+var _previousQuat = new THREE11.Quaternion();
+var _currentQuat = new THREE11.Quaternion();
 function isTargetRef(target) {
   return Boolean(target && typeof target === "object" && "current" in target);
 }
@@ -1648,6 +1648,125 @@ async function recordMountedCameraFrameSequence(api, options) {
     readiness
   };
 }
+var _raycaster = new THREE11.Raycaster();
+var _ndc = new THREE11.Vector2();
+function toVector3(value, fallback) {
+  if (!value) return fallback.clone();
+  return value instanceof THREE11.Vector3 ? value.clone() : new THREE11.Vector3(value[0], value[1], value[2]);
+}
+function applyCameraPose(camera, options, fallbackCamera) {
+  camera.position.copy(toVector3(options.position, fallbackCamera.position));
+  camera.up.copy(toVector3(options.up, fallbackCamera.up));
+  if (options.quaternion) {
+    if (options.quaternion instanceof THREE11.Quaternion) {
+      camera.quaternion.copy(options.quaternion);
+    } else {
+      camera.quaternion.set(
+        options.quaternion[0],
+        options.quaternion[1],
+        options.quaternion[2],
+        options.quaternion[3]
+      );
+    }
+  } else if (options.lookAt) {
+    camera.lookAt(toVector3(options.lookAt, new THREE11.Vector3()));
+  } else {
+    camera.quaternion.copy(fallbackCamera.quaternion);
+  }
+  camera.updateMatrixWorld();
+}
+function createProjectionCamera(fallbackCamera, options, width, height) {
+  const camera = options.camera ? options.camera.clone() : fallbackCamera instanceof THREE11.PerspectiveCamera ? fallbackCamera.clone() : new THREE11.PerspectiveCamera(45, width / height, 0.01, 100);
+  if (camera instanceof THREE11.PerspectiveCamera) {
+    camera.aspect = width / height;
+    camera.fov = options.fov ?? camera.fov;
+    camera.near = options.near ?? camera.near;
+    camera.far = options.far ?? camera.far;
+    camera.updateProjectionMatrix();
+  }
+  applyCameraPose(camera, options, fallbackCamera);
+  return camera;
+}
+function getProjectionSource(options) {
+  if (options.source) return options.source;
+  if (options.cameraName) return { kind: "mujoco-camera", cameraName: options.cameraName };
+  if (options.siteName) return { kind: "mujoco-site", siteName: options.siteName };
+  if (options.bodyName) return { kind: "mujoco-body", bodyName: options.bodyName };
+  if (options.camera) return { kind: "custom-camera" };
+  if (options.position || options.lookAt || options.quaternion) return { kind: "explicit-pose" };
+  return { kind: "fallback-camera" };
+}
+function imageSize(renderer, options) {
+  return [
+    Math.max(1, Math.floor(options.imageWidth ?? options.width ?? renderer.domElement.width)),
+    Math.max(1, Math.floor(options.imageHeight ?? options.height ?? renderer.domElement.height))
+  ];
+}
+function imagePointToNdc(x, y, coordinateSpace = "normalized", width = 1, height = 1) {
+  if (coordinateSpace === "ndc") return [x, y];
+  if (coordinateSpace === "normalized-1000") {
+    return [x / 1e3 * 2 - 1, 1 - y / 1e3 * 2];
+  }
+  if (coordinateSpace === "pixel") {
+    return [x / width * 2 - 1, 1 - y / height * 2];
+  }
+  return [x * 2 - 1, 1 - y * 2];
+}
+function isProjectionCandidate(object, options) {
+  if (!object.visible) return false;
+  if (object.userData[CAPTURE_EXCLUDE_KEY]) return false;
+  const geomGroup = object.userData.geomGroup;
+  const geomName = object.userData.geomName;
+  if (options.hiddenGeomNames && typeof geomName === "string" && options.hiddenGeomNames.includes(geomName)) {
+    return false;
+  }
+  if (options.hiddenGeomGroups && typeof geomGroup === "number" && options.hiddenGeomGroups.includes(geomGroup)) {
+    return false;
+  }
+  if (options.visibleGeomGroups && typeof geomGroup === "number" && !options.visibleGeomGroups.includes(geomGroup)) {
+    return false;
+  }
+  return true;
+}
+function findBodyId(object) {
+  let current = object;
+  while (current && current.userData.bodyID === void 0 && current.parent) {
+    current = current.parent;
+  }
+  return typeof current?.userData.bodyID === "number" ? current.userData.bodyID : -1;
+}
+function projectImagePointTo3D(renderer, scene, fallbackCamera, options) {
+  const [width, height] = imageSize(renderer, options);
+  const [ndcX, ndcY] = imagePointToNdc(
+    options.x,
+    options.y,
+    options.coordinateSpace,
+    width,
+    height
+  );
+  const projectionCamera = createProjectionCamera(fallbackCamera, options, width, height);
+  scene.updateMatrixWorld(true);
+  _ndc.set(ndcX, ndcY);
+  _raycaster.setFromCamera(_ndc, projectionCamera);
+  _raycaster.far = options.maxDistance ?? Infinity;
+  const objects = [];
+  scene.traverse((object) => {
+    if (object.isMesh && isProjectionCandidate(object, options)) {
+      objects.push(object);
+    }
+  });
+  const [hit] = _raycaster.intersectObjects(objects, true);
+  if (!hit) return null;
+  return {
+    point: hit.point.clone(),
+    bodyId: findBodyId(hit.object),
+    geomId: typeof hit.object.userData.geomID === "number" ? hit.object.userData.geomID : -1,
+    distance: hit.distance,
+    ndc: [ndcX, ndcY],
+    imageSize: [width, height],
+    source: getProjectionSource(options)
+  };
+}
 var JOINT_TYPE_NAMES2 = ["free", "ball", "slide", "hinge"];
 var GEOM_TYPE_NAMES = ["plane", "hfield", "sphere", "capsule", "ellipsoid", "cylinder", "box", "mesh"];
 var SENSOR_TYPE_NAMES = {
@@ -1723,8 +1842,8 @@ var _applyPoint = new Float64Array(3);
 var _rayPnt = new Float64Array(3);
 var _rayVec = new Float64Array(3);
 var _rayGeomId = new Int32Array(1);
-var _projRaycaster = new THREE10.Raycaster();
-var _projNdc = new THREE10.Vector2();
+var _projRaycaster = new THREE11.Raycaster();
+var _projNdc = new THREE11.Vector2();
 function waitForNextAnimationFrame2() {
   return new Promise((resolve) => {
     requestAnimationFrame(() => resolve());
@@ -1749,7 +1868,7 @@ function quaternionFromMujocoQuat(values, offset) {
   ];
 }
 function quaternionFromXmat(values, offset) {
-  const matrix = new THREE10.Matrix4();
+  const matrix = new THREE11.Matrix4();
   matrix.set(
     values[offset],
     values[offset + 1],
@@ -1768,7 +1887,7 @@ function quaternionFromXmat(values, offset) {
     0,
     1
   );
-  const quaternion = new THREE10.Quaternion().setFromRotationMatrix(matrix);
+  const quaternion = new THREE11.Quaternion().setFromRotationMatrix(matrix);
   return [quaternion.x, quaternion.y, quaternion.z, quaternion.w];
 }
 function omitResolvedCameraSelectors(options) {
@@ -1776,14 +1895,14 @@ function omitResolvedCameraSelectors(options) {
   return rest;
 }
 function vector3FromCaptureValue(value) {
-  return value instanceof THREE10.Vector3 ? value.clone() : new THREE10.Vector3(value[0], value[1], value[2]);
+  return value instanceof THREE11.Vector3 ? value.clone() : new THREE11.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]);
+  return value instanceof THREE11.Quaternion ? value.clone() : new THREE11.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(
+  const resolvedPosition = new THREE11.Vector3(position[0], position[1], position[2]);
+  const resolvedQuaternion = new THREE11.Quaternion(
     quaternion[0],
     quaternion[1],
     quaternion[2],
@@ -2590,7 +2709,7 @@ function MujocoSimProvider({
       const geomId = _rayGeomId[0];
       const bodyId = geomId >= 0 ? model.geom_bodyid[geomId] : -1;
       return {
-        point: new THREE10.Vector3(
+        point: new THREE11.Vector3(
           origin.x + dir.x * dist,
           origin.y + dir.y * dist,
           origin.z + dir.z * dist
@@ -2951,6 +3070,30 @@ function MujocoSimProvider({
     },
     [camera, gl]
   );
+  const projectImagePointTo3D2 = useCallback(
+    (options) => {
+      const {
+        x,
+        y,
+        coordinateSpace,
+        imageWidth,
+        imageHeight,
+        maxDistance,
+        ...captureOptions
+      } = options;
+      const resolvedCaptureOptions = resolveCameraCaptureOptions(captureOptions);
+      return projectImagePointTo3D(gl, scene, camera, {
+        ...resolvedCaptureOptions,
+        x,
+        y,
+        coordinateSpace,
+        imageWidth,
+        imageHeight,
+        maxDistance
+      });
+    },
+    [camera, gl, resolveCameraCaptureOptions, scene]
+  );
   const setBodyMass = useCallback((name, mass) => {
     const model = mjModelRef.current;
     if (!model) return;
@@ -3035,6 +3178,7 @@ function MujocoSimProvider({
       captureCameraFrameBlob: captureCameraFrameBlobApi,
       recordCameraSequence: recordCameraSequenceApi,
       project2DTo3D,
+      projectImagePointTo3D: projectImagePointTo3D2,
       setBodyMass,
       setGeomFriction,
       setGeomSize,
@@ -3094,6 +3238,7 @@ function MujocoSimProvider({
       captureCameraFrameBlobApi,
       recordCameraSequenceApi,
       project2DTo3D,
+      projectImagePointTo3D2,
       setBodyMass,
       setGeomFriction,
       setGeomSize
@@ -3569,7 +3714,7 @@ function solve6x6(A, b, x) {
 }
 
 // src/hooks/useIkController.ts
-var _syncMat4 = new THREE10.Matrix4();
+var _syncMat4 = new THREE11.Matrix4();
 function syncGizmoToSite(data, siteId, target) {
   if (siteId === -1) return;
   const sitePos = data.site_xpos.subarray(siteId * 3, siteId * 3 + 3);
@@ -3601,7 +3746,7 @@ var useIkController = createControllerHook(
     const { mjModelRef, mjDataRef, mujocoRef, resetCallbacks, status } = useMujocoContext();
     const ikEnabledRef = useRef(false);
     const ikCalculatingRef = useRef(false);
-    const ikTargetRef = useRef(new THREE10.Group());
+    const ikTargetRef = useRef(new THREE11.Group());
     const siteIdRef = useRef(-1);
     const controlGroupRef = useRef(null);
     const genericIkRef = useRef(new GenericIK(mujocoRef.current));
@@ -3609,10 +3754,10 @@ var useIkController = createControllerHook(
     const needsInitialSync = useRef(true);
     const gizmoAnimRef = useRef({
       active: false,
-      startPos: new THREE10.Vector3(),
-      endPos: new THREE10.Vector3(),
-      startRot: new THREE10.Quaternion(),
-      endRot: new THREE10.Quaternion(),
+      startPos: new THREE11.Vector3(),
+      endPos: new THREE11.Vector3(),
+      startRot: new THREE11.Quaternion(),
+      endRot: new THREE11.Quaternion(),
       startTime: 0,
       duration: 1e3
     });
@@ -3764,8 +3909,8 @@ var useIkController = createControllerHook(
         const target = ikTargetRef.current;
         if (!target) return;
         const targetPos = pos.clone();
-        const targetRot = new THREE10.Quaternion().setFromEuler(
-          new THREE10.Euler(Math.PI, 0, 0)
+        const targetRot = new THREE11.Quaternion().setFromEuler(
+          new THREE11.Euler(Math.PI, 0, 0)
         );
         if (duration > 0) {
           const ga = gizmoAnimRef.current;
@@ -3790,7 +3935,7 @@ var useIkController = createControllerHook(
         if (!ikCalculatingRef.current || !target) return null;
         return {
           pos: target.position.clone(),
-          rot: new THREE10.Euler().setFromQuaternion(target.quaternion)
+          rot: new THREE11.Euler().setFromQuaternion(target.quaternion)
         };
       },
       []
@@ -3886,10 +4031,10 @@ function Body({
   if (!hasChildren) return null;
   return /* @__PURE__ */ jsx("group", { ref: groupRef, children });
 }
-var _mat4 = new THREE10.Matrix4();
-var _pos = new THREE10.Vector3();
-var _quat = new THREE10.Quaternion();
-var _scale = new THREE10.Vector3(1, 1, 1);
+var _mat4 = new THREE11.Matrix4();
+var _pos = new THREE11.Vector3();
+var _quat = new THREE11.Quaternion();
+var _scale = new THREE11.Vector3(1, 1, 1);
 function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const { ikTargetRef, siteIdRef, ikEnabledRef, setIkEnabled } = controller;
@@ -3988,7 +4133,7 @@ function IkGizmo({ controller, siteName, scale = 0.18, onDrag }) {
     }
   );
 }
-var _dummy = new THREE10.Object3D();
+var _dummy = new THREE11.Object3D();
 function ContactMarkers({
   maxContacts = 100,
   radius = 8e-3,
@@ -4042,11 +4187,11 @@ function ContactMarkers({
 var _force = new Float64Array(3);
 var _torque = new Float64Array(3);
 var _point = new Float64Array(3);
-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();
+var _bodyPos = new THREE11.Vector3();
+var _bodyQuat = new THREE11.Quaternion();
+var _worldHit = new THREE11.Vector3();
+var _raycaster2 = new THREE11.Raycaster();
+var _mouse = new THREE11.Vector2();
 function DragInteraction({
   stiffness = 250,
   showArrow = true,
@@ -4057,16 +4202,16 @@ function DragInteraction({
   const draggingRef = useRef(false);
   const bodyIdRef = useRef(-1);
   const grabDistanceRef = useRef(0);
-  const localHitRef = useRef(new THREE10.Vector3());
-  const grabWorldRef = useRef(new THREE10.Vector3());
-  const mouseWorldRef = useRef(new THREE10.Vector3());
+  const localHitRef = useRef(new THREE11.Vector3());
+  const grabWorldRef = useRef(new THREE11.Vector3());
+  const mouseWorldRef = useRef(new THREE11.Vector3());
   const arrowRef = useRef(null);
   const groupRef = useRef(null);
   useEffect(() => {
     if (!showArrow || !groupRef.current) return;
-    const arrow = new THREE10.ArrowHelper(
-      new THREE10.Vector3(0, 1, 0),
-      new THREE10.Vector3(),
+    const arrow = new THREE11.ArrowHelper(
+      new THREE11.Vector3(0, 1, 0),
+      new THREE11.Vector3(),
       0.1,
       16729156
     );
@@ -4094,8 +4239,8 @@ function DragInteraction({
         (evt.clientX - rect.left) / rect.width * 2 - 1,
         -((evt.clientY - rect.top) / rect.height) * 2 + 1
       );
-      _raycaster.setFromCamera(_mouse, camera);
-      const hits = _raycaster.intersectObjects(scene.children, true);
+      _raycaster2.setFromCamera(_mouse, camera);
+      const hits = _raycaster2.intersectObjects(scene.children, true);
       for (const hit of hits) {
         let obj = hit.object;
         while (obj && obj.userData.bodyID === void 0 && obj.parent) {
@@ -4140,8 +4285,8 @@ function DragInteraction({
         (evt.clientX - rect.left) / rect.width * 2 - 1,
         -((evt.clientY - rect.top) / rect.height) * 2 + 1
       );
-      _raycaster.setFromCamera(_mouse, camera);
-      mouseWorldRef.current.copy(_raycaster.ray.origin).addScaledVector(_raycaster.ray.direction, grabDistanceRef.current);
+      _raycaster2.setFromCamera(_mouse, camera);
+      mouseWorldRef.current.copy(_raycaster2.ray.origin).addScaledVector(_raycaster2.ray.direction, grabDistanceRef.current);
     };
     const onPointerUp = () => {
       if (!draggingRef.current) return;
@@ -4249,7 +4394,7 @@ 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 THREE10.Color(dr, dg, db);
+      const color = new THREE11.Color(dr, dg, db);
       const px = lightPos[3 * i];
       const py = lightPos[3 * i + 1];
       const pz = lightPos[3 * i + 2];
@@ -4257,7 +4402,7 @@ function useSceneLights(intensity = 1) {
       const dy = lightDir[3 * i + 1];
       const dz = lightDir[3 * i + 2];
       if (isDirectional) {
-        const light = new THREE10.DirectionalLight(color, finalIntensity);
+        const light = new THREE11.DirectionalLight(color, finalIntensity);
         light.position.set(px, py, pz);
         light.target.position.set(px + dx, py + dy, pz + dz);
         light.castShadow = castShadow;
@@ -4280,7 +4425,7 @@ 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 THREE10.SpotLight(color, finalIntensity, 0, angle, exponent / 128);
+        const light = new THREE11.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;
@@ -4563,12 +4708,12 @@ var JOINT_COLORS = {
   3: 16776960
   // hinge - yellow
 };
-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 _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 MAX_CONTACT_ARROWS = 50;
 var CAMERA_DEBUG_LENGTH = 0.12;
 var CAMERA_DEBUG_FRUSTUM_DEPTH = 0.08;
@@ -4601,21 +4746,21 @@ function Debug({
         let geometry = null;
         switch (type) {
           case 2:
-            geometry = new THREE10.SphereGeometry(s[3 * i], 12, 8);
+            geometry = new THREE11.SphereGeometry(s[3 * i], 12, 8);
             break;
           case 3:
-            geometry = new THREE10.CapsuleGeometry(s[3 * i], s[3 * i + 1] * 2, 6, 8);
+            geometry = new THREE11.CapsuleGeometry(s[3 * i], s[3 * i + 1] * 2, 6, 8);
             break;
           case 5:
-            geometry = new THREE10.CylinderGeometry(s[3 * i], s[3 * i], s[3 * i + 1] * 2, 12);
+            geometry = new THREE11.CylinderGeometry(s[3 * i], s[3 * i], s[3 * i + 1] * 2, 12);
             break;
           case 6:
-            geometry = new THREE10.BoxGeometry(s[3 * i] * 2, s[3 * i + 1] * 2, s[3 * i + 2] * 2);
+            geometry = new THREE11.BoxGeometry(s[3 * i] * 2, s[3 * i + 1] * 2, s[3 * i + 2] * 2);
             break;
         }
         if (geometry) {
-          const mat = new THREE10.MeshBasicMaterial({ color: 65280, wireframe: true, transparent: true, opacity: 0.3 });
-          const mesh = new THREE10.Mesh(geometry, mat);
+          const mat = new THREE11.MeshBasicMaterial({ color: 65280, wireframe: true, transparent: true, opacity: 0.3 });
+          const mesh = new THREE11.Mesh(geometry, mat);
           mesh.userData.geomId = i;
           mesh.userData.bodyId = model.geom_bodyid[i];
           geoms.push(mesh);
@@ -4638,9 +4783,9 @@ function Debug({
           }
           if (maxGeomSize > 0) radius = maxGeomSize * 0.15;
         }
-        const geometry = new THREE10.OctahedronGeometry(radius);
-        const mat = new THREE10.MeshBasicMaterial({ color: 16711935, depthTest: false });
-        const mesh = new THREE10.Mesh(geometry, mat);
+        const geometry = new THREE11.OctahedronGeometry(radius);
+        const mat = new THREE11.MeshBasicMaterial({ color: 16711935, depthTest: false });
+        const mesh = new THREE11.Mesh(geometry, mat);
         mesh.renderOrder = 999;
         mesh.frustumCulled = false;
         mesh.userData.siteId = i;
@@ -4652,9 +4797,9 @@ function Debug({
         ctx.font = "bold 36px monospace";
         ctx.textAlign = "center";
         ctx.fillText(getName(model, model.name_siteadr[i]), 128, 42);
-        const tex = new THREE10.CanvasTexture(canvas);
-        const spriteMat = new THREE10.SpriteMaterial({ map: tex, depthTest: false, transparent: true });
-        const sprite = new THREE10.Sprite(spriteMat);
+        const tex = new THREE11.CanvasTexture(canvas);
+        const spriteMat = new THREE11.SpriteMaterial({ map: tex, depthTest: false, transparent: true });
+        const sprite = new THREE11.Sprite(spriteMat);
         const labelScale = radius * 15;
         sprite.scale.set(labelScale, labelScale * 0.25, 1);
         sprite.position.y = radius * 2;
@@ -4677,9 +4822,9 @@ function Debug({
           }
         }
         const arrowLen = Math.max(maxGeomSize * 0.8, 0.05);
-        const arrow = new THREE10.ArrowHelper(
-          new THREE10.Vector3(0, 0, 1),
-          new THREE10.Vector3(),
+        const arrow = new THREE11.ArrowHelper(
+          new THREE11.Vector3(0, 0, 1),
+          new THREE11.Vector3(),
           arrowLen,
           color,
           arrowLen * 0.25,
@@ -4687,7 +4832,7 @@ function Debug({
         );
         arrow.renderOrder = 999;
         arrow.frustumCulled = false;
-        arrow.line.material = new THREE10.LineBasicMaterial({ color, depthTest: false });
+        arrow.line.material = new THREE11.LineBasicMaterial({ color, depthTest: false });
         arrow.cone.material.depthTest = false;
         arrow.line.renderOrder = 999;
         arrow.line.frustumCulled = false;
@@ -4702,20 +4847,20 @@ function Debug({
     }
     if (showCameras && model.ncam && model.name_camadr) {
       for (let i = 0; i < model.ncam; i++) {
-        const group = new THREE10.Group();
+        const group = new THREE11.Group();
         group.userData.cameraId = i;
         group.renderOrder = 999;
         group.frustumCulled = false;
-        const marker = new THREE10.Mesh(
-          new THREE10.BoxGeometry(0.014, 9e-3, 6e-3),
-          new THREE10.MeshBasicMaterial({ color: 3718648, depthTest: false })
+        const marker = new THREE11.Mesh(
+          new THREE11.BoxGeometry(0.014, 9e-3, 6e-3),
+          new THREE11.MeshBasicMaterial({ color: 3718648, depthTest: false })
         );
         marker.renderOrder = 999;
         marker.frustumCulled = false;
         group.add(marker);
-        const forward = new THREE10.ArrowHelper(
-          new THREE10.Vector3(0, 0, -1),
-          new THREE10.Vector3(),
+        const forward = new THREE11.ArrowHelper(
+          new THREE11.Vector3(0, 0, -1),
+          new THREE11.Vector3(),
           CAMERA_DEBUG_LENGTH,
           3718648,
           CAMERA_DEBUG_LENGTH * 0.24,
@@ -4723,20 +4868,20 @@ function Debug({
         );
         forward.renderOrder = 999;
         forward.frustumCulled = false;
-        forward.line.material = new THREE10.LineBasicMaterial({
+        forward.line.material = new THREE11.LineBasicMaterial({
           color: 3718648,
           depthTest: false
         });
         forward.cone.material.depthTest = false;
         group.add(forward);
-        const frustumGeometry = new THREE10.BufferGeometry();
+        const frustumGeometry = new THREE11.BufferGeometry();
         frustumGeometry.setAttribute(
           "position",
-          new THREE10.Float32BufferAttribute(new Float32Array(8 * 2 * 3), 3)
+          new THREE11.Float32BufferAttribute(new Float32Array(8 * 2 * 3), 3)
         );
-        const frustum = new THREE10.LineSegments(
+        const frustum = new THREE11.LineSegments(
           frustumGeometry,
-          new THREE10.LineBasicMaterial({
+          new THREE11.LineBasicMaterial({
             color: 3718648,
             transparent: true,
             opacity: 0.8,
@@ -4755,9 +4900,9 @@ function Debug({
         ctx.font = "bold 32px monospace";
         ctx.textAlign = "center";
         ctx.fillText(getName(model, model.name_camadr[i]), 128, 42);
-        const texture = new THREE10.CanvasTexture(canvas);
-        const sprite = new THREE10.Sprite(
-          new THREE10.SpriteMaterial({
+        const texture = new THREE11.CanvasTexture(canvas);
+        const sprite = new THREE11.Sprite(
+          new THREE11.SpriteMaterial({
             map: texture,
             depthTest: false,
             transparent: true
@@ -4773,9 +4918,9 @@ function Debug({
     }
     if (showCOM) {
       for (let i = 1; i < model.nbody; i++) {
-        const geometry = new THREE10.SphereGeometry(5e-3, 6, 6);
-        const mat = new THREE10.MeshBasicMaterial({ color: 16711680 });
-        const mesh = new THREE10.Mesh(geometry, mat);
+        const geometry = new THREE11.SphereGeometry(5e-3, 6, 6);
+        const mat = new THREE11.MeshBasicMaterial({ color: 16711680 });
+        const mesh = new THREE11.Mesh(geometry, mat);
         mesh.userData.bodyId = i;
         comMarkers.push(mesh);
       }
@@ -4884,7 +5029,7 @@ function Debug({
         );
         group.quaternion.setFromRotationMatrix(_cameraMatrix);
         const fovy = model.cam_fovy?.[cameraId] ?? 45;
-        const halfHeight = Math.tan(THREE10.MathUtils.degToRad(fovy) / 2) * CAMERA_DEBUG_FRUSTUM_DEPTH;
+        const halfHeight = Math.tan(THREE11.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;
@@ -4929,9 +5074,9 @@ function Debug({
     contactPoolInitRef.current = true;
     const pool = [];
     for (let i = 0; i < MAX_CONTACT_ARROWS; i++) {
-      const arrow = new THREE10.ArrowHelper(
-        new THREE10.Vector3(0, 1, 0),
-        new THREE10.Vector3(),
+      const arrow = new THREE11.ArrowHelper(
+        new THREE11.Vector3(0, 1, 0),
+        new THREE11.Vector3(),
         0.1,
         16729156,
         0.03,
@@ -4996,9 +5141,9 @@ function Debug({
     }
   );
 }
-var DEFAULT_TENDON_COLOR = new THREE10.Color(0.3, 0.3, 0.8);
+var DEFAULT_TENDON_COLOR = new THREE11.Color(0.3, 0.3, 0.8);
 var DEFAULT_TENDON_WIDTH = 2e-3;
-new THREE10.Vector3();
+new THREE11.Vector3();
 function TendonRenderer(props) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const groupRef = useRef(null);
@@ -5012,7 +5157,7 @@ function TendonRenderer(props) {
     if (!model || !data || !group) return;
     const ntendon = model.ntendon ?? 0;
     if (ntendon === 0) return;
-    const material = new THREE10.MeshStandardMaterial({
+    const material = new THREE11.MeshStandardMaterial({
       color: DEFAULT_TENDON_COLOR,
       roughness: 0.6,
       metalness: 0.1
@@ -5027,11 +5172,11 @@ function TendonRenderer(props) {
         curves.push(null);
         continue;
       }
-      const points = Array.from({ length: wrapNum }, () => new THREE10.Vector3());
-      const curve = new THREE10.CatmullRomCurve3(points, false);
+      const points = Array.from({ length: wrapNum }, () => new THREE11.Vector3());
+      const curve = new THREE11.CatmullRomCurve3(points, false);
       const segments = Math.max(wrapNum * 2, 4);
-      const geometry = new THREE10.TubeGeometry(curve, segments, DEFAULT_TENDON_WIDTH, 6, false);
-      const mesh = new THREE10.Mesh(geometry, material);
+      const geometry = new THREE11.TubeGeometry(curve, segments, DEFAULT_TENDON_WIDTH, 6, false);
+      const mesh = new THREE11.Mesh(geometry, material);
       mesh.frustumCulled = false;
       group.add(mesh);
       meshes.push(mesh);
@@ -5086,11 +5231,11 @@ function TendonRenderer(props) {
       if (curve.points.length !== validCount) {
         curve.points.length = validCount;
         while (curve.points.length < validCount) {
-          curve.points.push(new THREE10.Vector3());
+          curve.points.push(new THREE11.Vector3());
         }
       }
       mesh.geometry.dispose();
-      mesh.geometry = new THREE10.TubeGeometry(
+      mesh.geometry = new THREE11.TubeGeometry(
         curve,
         Math.max(validCount * 2, 4),
         DEFAULT_TENDON_WIDTH,
@@ -5117,24 +5262,24 @@ function FlexRenderer(props) {
       const vertAdr = model.flex_vertadr[f];
       const vertNum = model.flex_vertnum[f];
       if (vertNum === 0) continue;
-      const geometry = new THREE10.BufferGeometry();
+      const geometry = new THREE11.BufferGeometry();
       const positions = new Float32Array(vertNum * 3);
-      geometry.setAttribute("position", new THREE10.BufferAttribute(positions, 3));
+      geometry.setAttribute("position", new THREE11.BufferAttribute(positions, 3));
       geometry.computeVertexNormals();
-      let color = new THREE10.Color(0.5, 0.5, 0.5);
+      let color = new THREE11.Color(0.5, 0.5, 0.5);
       if (model.flex_rgba) {
-        color = new THREE10.Color(
+        color = new THREE11.Color(
           model.flex_rgba[4 * f],
           model.flex_rgba[4 * f + 1],
           model.flex_rgba[4 * f + 2]
         );
       }
-      const material = new THREE10.MeshStandardMaterial({
+      const material = new THREE11.MeshStandardMaterial({
         color,
         roughness: 0.7,
-        side: THREE10.DoubleSide
+        side: THREE11.DoubleSide
       });
-      const mesh = new THREE10.Mesh(geometry, material);
+      const mesh = new THREE11.Mesh(geometry, material);
       mesh.userData.flexId = f;
       mesh.userData.vertAdr = vertAdr;
       mesh.userData.vertNum = vertNum;
@@ -5170,7 +5315,7 @@ 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 THREE10.Matrix4();
+var _matrix = new THREE11.Matrix4();
 function getGeomInfo(model, geomId) {
   const size = model.geom_size.subarray(geomId * 3, geomId * 3 + 3);
   const type = model.geom_type[geomId];
@@ -5192,10 +5337,10 @@ function geomSignature(model, geomId) {
   return [type, size, mat, data, rgba].join("|");
 }
 function firstMesh(object) {
-  if (object instanceof THREE10.Mesh) return object;
+  if (object instanceof THREE11.Mesh) return object;
   let mesh = null;
   object.traverse((child) => {
-    if (!mesh && child instanceof THREE10.Mesh) mesh = child;
+    if (!mesh && child instanceof THREE11.Mesh) mesh = child;
   });
   return mesh;
 }
@@ -5624,12 +5769,12 @@ function useActuators() {
     return actuators;
   }, [status, mjModelRef]);
 }
-var _mat42 = new THREE10.Matrix4();
+var _mat42 = new THREE11.Matrix4();
 function useSitePosition(siteName) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const siteIdRef = useRef(-1);
-  const positionRef = useRef(new THREE10.Vector3());
-  const quaternionRef = useRef(new THREE10.Quaternion());
+  const positionRef = useRef(new THREE11.Vector3());
+  const quaternionRef = useRef(new THREE11.Quaternion());
   useEffect(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") {
@@ -5822,10 +5967,10 @@ function useJointState(name, options = {}) {
 function useBodyState(name) {
   const { mjModelRef, status } = useMujocoContext();
   const bodyIdRef = useRef(-1);
-  const position = useRef(new THREE10.Vector3());
-  const quaternion = useRef(new THREE10.Quaternion());
-  const linearVelocity = useRef(new THREE10.Vector3());
-  const angularVelocity = useRef(new THREE10.Vector3());
+  const position = useRef(new THREE11.Vector3());
+  const quaternion = useRef(new THREE11.Quaternion());
+  const linearVelocity = useRef(new THREE11.Vector3());
+  const angularVelocity = useRef(new THREE11.Vector3());
   useEffect(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") return;
@@ -5851,7 +5996,7 @@ function useBodyState(name) {
   });
   return { position, quaternion, linearVelocity, angularVelocity };
 }
-var _matrix2 = new THREE10.Matrix4();
+var _matrix2 = new THREE11.Matrix4();
 function quaternionFromMatrixArray(target, values, offset) {
   _matrix2.set(
     values[offset],
@@ -5885,8 +6030,8 @@ 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());
+  const positionRef = useRef(new THREE11.Vector3());
+  const quaternionRef = useRef(new THREE11.Quaternion());
   useEffect(() => {
     const model = mjModelRef.current;
     if (!model || status !== "ready") {
@@ -6229,9 +6374,9 @@ function useKeyboardTeleop(config) {
 }
 var DEFAULT_TRANSLATE_SPEED = 0.25;
 var DEFAULT_ROTATE_SPEED = 1;
-var _translation = new THREE10.Vector3();
-var _axis = new THREE10.Vector3();
-var _quat3 = new THREE10.Quaternion();
+var _translation = new THREE11.Vector3();
+var _axis = new THREE11.Vector3();
+var _quat3 = new THREE11.Quaternion();
 function actionSign(action) {
   return action.endsWith("+") ? 1 : -1;
 }
@@ -6416,7 +6561,8 @@ function usePolicy(config) {
       const shouldInfer = !inFlightRef.current && (!queuedAction || actionQueueRef.current.length <= prefetchThreshold);
       if (!shouldInfer) return;
       const observation = cfg.onObservation({ model, data });
-      const result = cfg.infer ? cfg.infer({ observation, model, data }) : observation;
+      const queuedActions = actionQueueRef.current.length;
+      const result = cfg.infer ? cfg.infer({ observation, model, data, queuedActions }) : observation;
       if (isPromiseLike(result)) {
         const epoch = epochRef.current;
         inFlightRef.current = true;
@@ -6447,11 +6593,11 @@ function usePolicy(config) {
             cfg.queueStrategy ?? "append"
           );
         } else {
-          const [action, ...queuedActions] = actions;
+          const [action, ...queuedActions2] = actions;
           if (!action) return;
           enqueuePolicyActions(
             actionQueueRef.current,
-            queuedActions,
+            queuedActions2,
             observation,
             cfg.queueStrategy ?? "append"
           );
@@ -6594,7 +6740,7 @@ function useRemotePolicy(config) {
   const remoteEpochRef = useRef(0);
   const policy = usePolicy({
     ...config,
-    infer: async ({ observation, model, data }) => {
+    infer: async ({ observation, model, data, queuedActions }) => {
       const cfg = configRef.current;
       abortController(abortControllerRef.current, createAbortError("Remote policy request was superseded."));
       const controller = new AbortController();
@@ -6606,6 +6752,7 @@ function useRemotePolicy(config) {
         observation,
         model,
         data,
+        queuedActions,
         reset: requestIndex === 0,
         requestIndex,
         signal
@@ -7573,7 +7720,7 @@ function useSelectionHighlight(bodyId, options = {}) {
       }
     }
     prevRef.current = [];
-    const highlightColor = new THREE10.Color(color);
+    const highlightColor = new THREE11.Color(color);
     for (const mesh of meshes) {
       const mat = mesh.material;
       if (mat.emissive) {
@@ -7600,15 +7747,15 @@ function useSelectionHighlight(bodyId, options = {}) {
 }
 function useCameraAnimation() {
   const { camera } = useThree();
-  const orbitTargetRef = useRef(new THREE10.Vector3(0, 0, 0));
+  const orbitTargetRef = useRef(new THREE11.Vector3(0, 0, 0));
   const cameraAnimRef = useRef({
     active: false,
-    startPos: new THREE10.Vector3(),
-    endPos: new THREE10.Vector3(),
-    startRot: new THREE10.Quaternion(),
-    endRot: new THREE10.Quaternion(),
-    startTarget: new THREE10.Vector3(),
-    endTarget: new THREE10.Vector3(),
+    startPos: new THREE11.Vector3(),
+    endPos: new THREE11.Vector3(),
+    startRot: new THREE11.Quaternion(),
+    endRot: new THREE11.Quaternion(),
+    startTarget: new THREE11.Vector3(),
+    endTarget: new THREE11.Vector3(),
     startTime: 0,
     duration: 0,
     resolve: null
@@ -7686,6 +7833,12 @@ function useCameraAnimation() {
  *
  * Helpers for resolving dataset camera streams to mounted MuJoCo resources.
  */
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Project detector/image coordinates from a camera view into the rendered MuJoCo scene.
+ */
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -7921,6 +8074,6 @@ 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, 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 };
+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, imagePointToNdc, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, projectImagePointTo3D, 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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