mujoco-react 10.2.1 → 10.3.0

package/src/spark.tsx

@@ -381,6 +381,10 @@ export function SparkSplatEnvironment({
   const onErrorRef = useRef(onError);
   const [status, setStatus] = useState<SparkSplatStatus>('idle');
   const { gl, invalidate } = useThree();
+  onStatusChangeRef.current = onStatusChange;
+  onLoadRef.current = onLoad;
+  onErrorRef.current = onError;
+
   const metadata = useSplatEnvironment({
     environment,
     scenario,
@@ -413,18 +417,6 @@ export function SparkSplatEnvironment({
     ]
   );
 
-  useEffect(() => {
-    onStatusChangeRef.current = onStatusChange;
-  }, [onStatusChange]);
-
-  useEffect(() => {
-    onLoadRef.current = onLoad;
-  }, [onLoad]);
-
-  useEffect(() => {
-    onErrorRef.current = onError;
-  }, [onError]);
-
   useEffect(() => {
     let disposed = false;
     ensureSparkDisposeRejectionHandler();

package/src/types.ts

@@ -328,6 +328,9 @@ export interface MujocoModel {
   cam_pos?: Float64Array;
   cam_quat?: Float64Array;
   cam_fovy?: Float64Array;
+  cam_intrinsic?: Float64Array;
+  cam_resolution?: Int32Array;
+  cam_sensorsize?: Float64Array;
 
   // Tendon
   ten_wrapadr: Int32Array;
@@ -723,6 +726,9 @@ export interface CameraInfo {
   name: string;
   bodyId: number;
   fov: number | null;
+  resolution: [number, number] | null;
+  sensorSize: [number, number] | null;
+  intrinsic: [number, number, number, number] | null;
   position: [number, number, number] | null;
   quaternion: [number, number, number, number] | null;
 }
@@ -1505,6 +1511,51 @@ export type CameraFrameCaptureQuaternion =
   | THREE.Quaternion
   | readonly [number, number, number, number];
 
+export interface CameraFrameVisualOverrides {
+  /**
+   * Override `scene.background` for this capture only.
+   * Use `null` or `false` to render without the viewer scene background.
+   */
+  sceneBackground?: THREE.Scene['background'] | THREE.ColorRepresentation | null | false;
+  /**
+   * Override `scene.environment` for this capture only.
+   * Use `null` or `false` to remove viewer environment lighting/maps.
+   */
+  sceneEnvironment?: THREE.Scene['environment'] | null | false;
+  /**
+   * Override `scene.fog` for this capture only.
+   * Use `null` or `false` to remove viewer fog.
+   */
+  sceneFog?: THREE.Scene['fog'] | null | false;
+  /** Override `renderer.shadowMap.enabled` while capturing. */
+  shadows?: boolean;
+  /** Override renderer tone mapping while capturing. */
+  toneMapping?: THREE.WebGLRenderer['toneMapping'];
+  /** Override renderer output color space while capturing. */
+  outputColorSpace?: THREE.WebGLRenderer['outputColorSpace'];
+}
+
+export interface CameraFrameRenderIsolationOptions {
+  /**
+   * Use an independent offscreen WebGLRenderer for this capture.
+   *
+   * This prevents viewer renderer settings such as antialiasing, shadow-map
+   * configuration, tone mapping, and environment setup from leaking into
+   * policy/training images. Leave unset for the historical shared-renderer path.
+   */
+  enabled?: boolean;
+  /** Offscreen renderer antialiasing. Defaults to false for deterministic policy captures. */
+  antialias?: boolean;
+  /** Offscreen renderer alpha buffer. Defaults to false, matching Three.js WebGLRenderer. */
+  alpha?: boolean;
+  /** Offscreen renderer preserveDrawingBuffer flag. Defaults to false. */
+  preserveDrawingBuffer?: boolean;
+  /** Offscreen renderer power preference. Defaults to the browser's renderer default. */
+  powerPreference?: WebGLPowerPreference;
+  /** Reuse an offscreen renderer for matching capture dimensions/options. Defaults to true. */
+  cache?: boolean;
+}
+
 export interface CameraFrameCaptureOptions {
   /** Existing Three camera to clone before applying pose overrides. */
   camera?: THREE.Camera;
@@ -1529,8 +1580,36 @@ export interface CameraFrameCaptureOptions {
   fov?: number;
   near?: number;
   far?: number;
+  /**
+   * Explicit projection matrix for offscreen capture. This is useful when a
+   * MuJoCo camera has calibrated intrinsics that cannot be represented by a
+   * symmetric Three.js PerspectiveCamera fov alone.
+   */
+  projectionMatrix?: THREE.Matrix4 | readonly number[];
   /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */
   source?: CameraFrameCaptureSource;
+  /**
+   * When resolving a named MuJoCo camera, derive Three capture settings from
+   * MuJoCo camera metadata where available: cam_resolution, cam_fovy,
+   * cam_intrinsic/cam_sensorsize, and visual map near/far clipping.
+   */
+  mujocoCameraCompatibility?: boolean | {
+    useResolution?: boolean;
+    useIntrinsics?: boolean;
+    useClipping?: boolean;
+    /**
+     * When a MuJoCo camera has `resolution` metadata and the caller supplies
+     * only width or only height, derive the missing dimension from the MuJoCo
+     * camera aspect ratio.
+     */
+    preserveAspect?: boolean;
+    /**
+     * Prefer the MuJoCo camera's configured resolution over width/height
+     * provided by the caller. Leave false when a policy wants fixed-size
+     * payloads while still preserving the camera aspect ratio.
+     */
+    preferResolution?: boolean;
+  };
   /** Hide rendered Three objects whose MuJoCo geom group is in this list. */
   hiddenGeomGroups?: readonly number[];
   /** When provided, only rendered Three objects whose MuJoCo geom group is in this list are visible. */
@@ -1541,6 +1620,15 @@ export interface CameraFrameCaptureOptions {
   background?: THREE.ColorRepresentation;
   /** Optional clear alpha for this capture only. Defaults to the renderer's current clear alpha. */
   backgroundAlpha?: number;
+  /** Temporary scene/renderer visual overrides applied only for this offscreen capture. */
+  visualOverrides?: CameraFrameVisualOverrides;
+  /**
+   * Render this capture with a separate offscreen WebGLRenderer.
+   *
+   * This is useful for policy or training captures that should remain canonical
+   * while the interactive viewer uses richer visual effects.
+   */
+  renderIsolation?: boolean | CameraFrameRenderIsolationOptions;
   /** Mirror the captured image horizontally after rendering. Useful when matching policy datasets with mirrored camera frames. */
   flipX?: boolean;
 }
@@ -1658,6 +1746,21 @@ export interface CameraFrameSequenceRecorderAPI {
   reset: () => void;
 }
 
+export type MujocoMeshNormalSmoothing =
+  | boolean
+  | {
+    /** Vertex merge tolerance used before recomputing mesh normals. Defaults to `1e-4`. */
+    tolerance?: number;
+  };
+
+export interface MujocoRenderOptions {
+  /**
+   * Smooth mesh normals by welding duplicate vertices before recomputing normals.
+   * Useful for faceted STL visuals; keep off for exact policy-render parity.
+   */
+  meshNormalSmoothing?: MujocoMeshNormalSmoothing;
+}
+
 // ---- Canvas Props ----
 
 export type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
@@ -1675,6 +1778,7 @@ export type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {
   paused?: boolean;
   speed?: number;
   interpolate?: boolean;
+  renderOptions?: MujocoRenderOptions;
 };
 
 // ---- Hook Return Types ----

package/dist/chunk-CYDGWNKQ.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../src/types.ts","../src/rendering/cameraFrameCapture.ts","../src/components/VisualScenario.tsx"],"names":["THREE2"],"mappings":";;;;;;AA2EA,IAAM,wBAA+C,EAAC;AACtD,IAAM,sBAAA,GAAgD,CAAC,WAAA,EAAa,SAAA,EAAW,UAAU,QAAA,EAAU,OAAA,EAAS,OAAA,EAAS,WAAA,EAAa,SAAS,CAAA;AAE3I,SAAS,2BAAA,GAAmF;AAC1F,EAAA,OAAO;AAAA,IACL,WAAW,EAAC;AAAA,IACZ,SAAS,EAAC;AAAA,IACV,QAAQ,EAAC;AAAA,IACT,QAAQ,EAAC;AAAA,IACT,OAAO,EAAC;AAAA,IACR,OAAO,EAAC;AAAA,IACR,WAAW,EAAC;AAAA,IACZ,SAAS;AAAC,GACZ;AACF;AAEO,SAAS,uBAAuB,SAAA,EAAmD;AACxF,EAAA,KAAA,MAAW,CAAC,KAAA,EAAO,cAAc,KAAK,MAAA,CAAO,OAAA,CAAQ,SAAS,CAAA,EAAG;AAC/D,IAAA,MAAM,QAAA,GAAW,qBAAA,CAAsB,KAAK,CAAA,IAAK,2BAAA,EAA4B;AAC7E,IAAA,KAAA,MAAW,OAAO,sBAAA,EAAwB;AACxC,MAAA,QAAA,CAAS,GAAG,CAAA,GAAI,EAAE,GAAG,QAAA,CAAS,GAAG,CAAA,EAAG,GAAI,cAAA,CAAe,GAAG,CAAA,IAAK,EAAC,EAAG;AAAA,IACrE;AACA,IAAA,qBAAA,CAAsB,KAAK,CAAA,GAAI,QAAA;AAAA,EACjC;AACF;AAEA,SAAS,uBAAyD,GAAA,EAAwC;AACxG,EAAA,OAAO,IAAI,KAAA,CAAM,EAAC,EAAG;AAAA,IACnB,GAAA,CAAI,SAAS,KAAA,EAAO;AAClB,MAAA,IAAI,OAAO,KAAA,KAAU,QAAA,EAAU,OAAO,MAAA;AACtC,MAAA,OAAO,qBAAA,CAAsB,KAAK,CAAA,GAAI,GAAG,KAAK,EAAC;AAAA,IACjD,CAAA;AAAA,IACA,OAAA,GAAU;AACR,MAAA,OAAO,OAAA,CAAQ,QAAQ,qBAAqB,CAAA;AAAA,IAC9C,CAAA;AAAA,IACA,wBAAA,CAAyB,SAAS,KAAA,EAAO;AACvC,MAAA,IAAI,OAAO,KAAA,KAAU,QAAA,IAAY,EAAE,KAAA,IAAS,wBAAwB,OAAO,MAAA;AAC3E,MAAA,OAAO,EAAE,UAAA,EAAY,IAAA,EAAM,YAAA,EAAc,IAAA,EAAK;AAAA,IAChD;AAAA,GACD,CAAA;AACH;AAEO,IAAM,cAAA,GAAwC,IAAI,KAAA,CAAM,qBAAA,EAAuB;AAAA,EACpF,GAAA,CAAI,QAAQ,KAAA,EAAO;AACjB,IAAA,IAAI,OAAO,KAAA,KAAU,QAAA,EAAU,OAAO,MAAA;AACtC,IAAA,OAAO,MAAA,CAAO,KAAK,CAAA,IAAK,2BAAA,EAA4B;AAAA,EACtD,CAAA;AAAA,EACA,QAAQ,MAAA,EAAQ;AACd,IAAA,OAAO,OAAA,CAAQ,QAAQ,MAAM,CAAA;AAAA,EAC/B,CAAA;AAAA,EACA,wBAAA,CAAyB,QAAQ,KAAA,EAAO;AACtC,IAAA,IAAI,OAAO,KAAA,KAAU,QAAA,IAAY,EAAE,KAAA,IAAS,SAAS,OAAO,MAAA;AAC5D,IAAA,OAAO,EAAE,UAAA,EAAY,IAAA,EAAM,YAAA,EAAc,IAAA,EAAK;AAAA,EAChD;AACF,CAAC;AAEM,IAAM,cAAA,GAAqD,uBAAuB,WAAW;AAC7F,IAAM,YAAA,GAAiD,uBAAuB,SAAS;AACvF,IAAM,WAAA,GAA+C,uBAAuB,QAAQ;AACpF,IAAM,WAAA,GAA+C,uBAAuB,QAAQ;AACpF,IAAM,UAAA,GAA6C,uBAAuB,OAAO;AACjF,IAAM,UAAA,GAA6C,uBAAuB,OAAO;AACjF,IAAM,cAAA,GAAqD,uBAAuB,WAAW;AAC7F,IAAM,YAAA,GAAiD,uBAAuB,SAAS;AAqCvF,SAAS,UAAA,CAAW,UAA8B,CAAA,EAAsC;AAC7F,EAAA,IAAI;AACF,IAAA,OAAO,QAAA,CAAS,IAAI,CAAC,CAAA;AAAA,EACvB,CAAA,CAAA,MAAQ;AACN,IAAA,OAAO,MAAA;AAAA,EACT;AACF;AAKO,SAAS,YAAA,CAAgB,MAAkB,IAAA,EAA8C;AAC9F,EAAA,MAAM,WAAW,IAAA,CAAK,OAAA;AACtB,EAAA,IAAI;AACF,IAAA,OAAO,KAAK,QAAQ,CAAA;AAAA,EACtB,CAAA,SAAE;AACA,IAAA,QAAA,CAAS,MAAA,IAAS;AAAA,EACpB;AACF;AAs8BO,IAAM,+BAAA,GAAkC;AAAA,EAC7C,QAAA,EAAU,UAAA;AAAA,EACV,YAAA,EAAc,eAAA;AAAA,EACd,qBAAA,EAAuB,yBAAA;AAAA,EACvB,iBAAA,EAAmB,oBAAA;AAAA,EACnB,KAAA,EAAO;AACT;ACpmCO,IAAM,yCAAA,GACX;AACK,IAAM,6CAAA,GACX;AACK,IAAM,mBAAA,GACX;AA6CF,SAAS,SAAA,CACP,OACA,QAAA,EACe;AACf,EAAA,IAAI,CAAC,KAAA,EAAO,OAAO,QAAA,CAAS,KAAA,EAAM;AAClC,EAAA,OAAO,KAAA,YAAuB,KAAA,CAAA,OAAA,GAC1B,KAAA,CAAM,KAAA,KACN,IAAU,KAAA,CAAA,OAAA,CAAQ,KAAA,CAAM,CAAC,GAAG,KAAA,CAAM,CAAC,CAAA,EAAG,KAAA,CAAM,CAAC,CAAC,CAAA;AACpD;AAEA,SAAS,eAAA,CACP,MAAA,EACA,OAAA,EACA,cAAA,EACA;AACA,EAAA,MAAA,CAAO,SAAS,IAAA,CAAK,SAAA,CAAU,QAAQ,QAAA,EAAU,cAAA,CAAe,QAAQ,CAAC,CAAA;AACzE,EAAA,MAAA,CAAO,GAAG,IAAA,CAAK,SAAA,CAAU,QAAQ,EAAA,EAAI,cAAA,CAAe,EAAE,CAAC,CAAA;AAEvD,EAAA,IAAI,QAAQ,UAAA,EAAY;AACtB,IAAA,IAAI,OAAA,CAAQ,sBAA4B,KAAA,CAAA,UAAA,EAAY;AAClD,MAAA,MAAA,CAAO,UAAA,CAAW,IAAA,CAAK,OAAA,CAAQ,UAAU,CAAA;AAAA,IAC3C,CAAA,MAAO;AACL,MAAA,MAAA,CAAO,UAAA,CAAW,GAAA;AAAA,QAChB,OAAA,CAAQ,WAAW,CAAC,CAAA;AAAA,QACpB,OAAA,CAAQ,WAAW,CAAC,CAAA;AAAA,QACpB,OAAA,CAAQ,WAAW,CAAC,CAAA;AAAA,QACpB,OAAA,CAAQ,WAAW,CAAC;AAAA,OACtB;AAAA,IACF;AAAA,EACF,CAAA,MAAA,IAAW,QAAQ,MAAA,EAAQ;AACzB,IAAA,MAAA,CAAO,OAAO,SAAA,CAAU,OAAA,CAAQ,QAAQ,IAAU,KAAA,CAAA,OAAA,EAAS,CAAC,CAAA;AAAA,EAC9D,CAAA,MAAO;AACL,IAAA,MAAA,CAAO,UAAA,CAAW,IAAA,CAAK,cAAA,CAAe,UAAU,CAAA;AAAA,EAClD;AAEA,EAAA,MAAA,CAAO,iBAAA,EAAkB;AAC3B;AAEA,SAAS,mBAAA,CACP,OAAA,EACA,cAAA,EACA,KAAA,EACA,MAAA,EACc;AACd,EAAA,MAAM,SAAS,OAAA,CAAQ,MAAA,GACnB,QAAQ,MAAA,CAAO,KAAA,KACf,cAAA,YAAgC,KAAA,CAAA,iBAAA,GAC9B,cAAA,CAAe,KAAA,KACf,IAAU,KAAA,CAAA,iBAAA,CAAkB,IAAI,KAAA,GAAQ,MAAA,EAAQ,MAAM,GAAG,CAAA;AAE/D,EAAA,IAAI,kBAAwB,KAAA,CAAA,iBAAA,EAAmB;AAC7C,IAAA,MAAA,CAAO,SAAS,KAAA,GAAQ,MAAA;AACxB,IAAA,MAAA,CAAO,GAAA,GAAM,OAAA,CAAQ,GAAA,IAAO,MAAA,CAAO,GAAA;AACnC,IAAA,MAAA,CAAO,IAAA,GAAO,OAAA,CAAQ,IAAA,IAAQ,MAAA,CAAO,IAAA;AACrC,IAAA,MAAA,CAAO,GAAA,GAAM,OAAA,CAAQ,GAAA,IAAO,MAAA,CAAO,GAAA;AACnC,IAAA,MAAA,CAAO,sBAAA,EAAuB;AAAA,EAChC;AAEA,EAAA,eAAA,CAAgB,MAAA,EAAQ,SAAS,cAAc,CAAA;AAC/C,EAAA,OAAO,MAAA;AACT;AAEA,SAAS,oBAAA,CACP,UACA,OAAA,EACA;AACA,EAAA,MAAM,QAAQ,IAAA,CAAK,GAAA;AAAA,IACjB,CAAA;AAAA,IACA,KAAK,KAAA,CAAM,OAAA,CAAQ,KAAA,IAAS,QAAA,CAAS,WAAW,KAAK;AAAA,GACvD;AACA,EAAA,MAAM,SAAS,IAAA,CAAK,GAAA;AAAA,IAClB,CAAA;AAAA,IACA,KAAK,KAAA,CAAM,OAAA,CAAQ,MAAA,IAAU,QAAA,CAAS,WAAW,MAAM;AAAA,GACzD;AACA,EAAA,OAAO,EAAE,OAAO,MAAA,EAAO;AACzB;AAEA,SAAS,oBAAA,CACP,MAAA,EACA,OAAA,EACA,cAAA,EACA,OACA,MAAA,EACA;AACA,EAAA,IAAI,QAAQ,MAAA,EAAQ;AAClB,IAAA,MAAA,CAAO,IAAA,CAAK,QAAQ,MAAM,CAAA;AAAA,EAC5B;AAEA,EAAA,IAAI,kBAAwB,KAAA,CAAA,iBAAA,EAAmB;AAC7C,IAAA,MAAA,CAAO,SAAS,KAAA,GAAQ,MAAA;AACxB,IAAA,MAAA,CAAO,GAAA,GAAM,OAAA,CAAQ,GAAA,IAAO,MAAA,CAAO,GAAA;AACnC,IAAA,MAAA,CAAO,IAAA,GAAO,OAAA,CAAQ,IAAA,IAAQ,MAAA,CAAO,IAAA;AACrC,IAAA,MAAA,CAAO,GAAA,GAAM,OAAA,CAAQ,GAAA,IAAO,MAAA,CAAO,GAAA;AACnC,IAAA,MAAA,CAAO,sBAAA,EAAuB;AAAA,EAChC;AAEA,EAAA,eAAA,CAAgB,MAAA,EAAQ,SAAS,cAAc,CAAA;AACjD;AAEA,SAAS,wBAAA,CACP,QAAA,EACA,MAAA,EACA,MAAA,EACA,OAAA,EACA,MAAA,EACA,SAAA,EACA,KAAA,EACA,MAAA,EACA,gBAAA,EACA,KAAA,GAAQ,KAAA,EACR;AACA,EAAA,QAAA,CAAS,uBAAuB,MAAA,EAAQ,CAAA,EAAG,CAAA,EAAG,KAAA,EAAO,QAAQ,MAAM,CAAA;AAEnE,EAAA,MAAM,WAAW,KAAA,GAAQ,CAAA;AACzB,EAAA,MAAM,aAAa,gBAAA,KAA2B,KAAA,CAAA,cAAA;AAC9C,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,MAAA,EAAQ,KAAK,CAAA,EAAG;AAClC,IAAA,MAAM,WAAA,GAAA,CAAe,MAAA,GAAS,CAAA,GAAI,CAAA,IAAK,QAAA;AACvC,IAAA,MAAM,cAAc,CAAA,GAAI,QAAA;AACxB,IAAA,MAAM,GAAA,GAAM,MAAA,CAAO,QAAA,CAAS,WAAA,EAAa,cAAc,QAAQ,CAAA;AAC/D,IAAA,IAAI,CAAC,UAAA,IAAc,CAAC,KAAA,EAAO;AACzB,MAAA,SAAA,CAAU,IAAA,CAAK,GAAA,CAAI,GAAA,EAAK,WAAW,CAAA;AACnC,MAAA;AAAA,IACF;AAEA,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,KAAK,CAAA,EAAG;AACjC,MAAA,MAAM,OAAA,GAAU,KAAA,GAAQ,KAAA,GAAQ,CAAA,GAAI,CAAA,GAAI,CAAA;AACxC,MAAA,MAAM,eAAe,OAAA,GAAU,CAAA;AAC/B,MAAA,MAAM,YAAA,GAAe,cAAc,CAAA,GAAI,CAAA;AACvC,MAAA,SAAA,CAAU,IAAA,CAAK,YAAY,CAAA,GAAI,UAAA,GAC3B,oBAAA,CAAqB,IAAI,YAAY,CAAC,CAAA,GACtC,GAAA,CAAI,YAAY,CAAA;AACpB,MAAA,SAAA,CAAU,IAAA,CAAK,YAAA,GAAe,CAAC,CAAA,GAAI,UAAA,GAC/B,oBAAA,CAAqB,GAAA,CAAI,YAAA,GAAe,CAAC,CAAC,CAAA,GAC1C,GAAA,CAAI,eAAe,CAAC,CAAA;AACxB,MAAA,SAAA,CAAU,IAAA,CAAK,YAAA,GAAe,CAAC,CAAA,GAAI,UAAA,GAC/B,oBAAA,CAAqB,GAAA,CAAI,YAAA,GAAe,CAAC,CAAC,CAAA,GAC1C,GAAA,CAAI,eAAe,CAAC,CAAA;AACxB,MAAA,SAAA,CAAU,KAAK,YAAA,GAAe,CAAC,CAAA,GAAI,GAAA,CAAI,eAAe,CAAC,CAAA;AAAA,IACzD;AAAA,EACF;AACA,EAAA,OAAA,CAAQ,YAAA,CAAa,SAAA,EAAW,CAAA,EAAG,CAAC,CAAA;AACpC,EAAA,OAAO,MAAA;AACT;AAEA,SAAS,qBAAqB,KAAA,EAAe;AAC3C,EAAA,MAAM,aAAa,KAAA,GAAQ,GAAA;AAC3B,EAAA,MAAM,OAAA,GACJ,UAAA,IAAc,QAAA,GACV,UAAA,GAAa,KAAA,GACb,KAAA,GAAQ,IAAA,CAAK,GAAA,CAAI,UAAA,EAAY,CAAA,GAAI,GAAG,CAAA,GAAI,KAAA;AAC9C,EAAA,OAAO,IAAA,CAAK,GAAA,CAAI,GAAA,EAAK,IAAA,CAAK,GAAA,CAAI,CAAA,EAAG,IAAA,CAAK,KAAA,CAAM,OAAA,GAAU,GAAG,CAAC,CAAC,CAAA;AAC7D;AAEA,SAAS,kBAAA,CACP,QACA,OAAA,EACA,SAAA,EACA,OACA,MAAA,EACA,KAAA,GAAQ,IAAA,EACR,KAAA,GAAQ,KAAA,EACR;AACA,EAAA,MAAM,WAAW,KAAA,GAAQ,CAAA;AACzB,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,MAAA,EAAQ,KAAK,CAAA,EAAG;AAClC,IAAA,MAAM,OAAA,GAAU,KAAA,GAAQ,MAAA,GAAS,CAAA,GAAI,CAAA,GAAI,CAAA;AACzC,IAAA,MAAM,cAAc,OAAA,GAAU,QAAA;AAC9B,IAAA,MAAM,cAAc,CAAA,GAAI,QAAA;AACxB,IAAA,IAAI,CAAC,KAAA,EAAO;AACV,MAAA,SAAA,CAAU,IAAA,CAAK,GAAA;AAAA,QACb,MAAA,CAAO,QAAA,CAAS,WAAA,EAAa,WAAA,GAAc,QAAQ,CAAA;AAAA,QACnD;AAAA,OACF;AACA,MAAA;AAAA,IACF;AACA,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,KAAA,EAAO,KAAK,CAAA,EAAG;AACjC,MAAA,MAAM,OAAA,GAAU,QAAQ,CAAA,GAAI,CAAA;AAC5B,MAAA,MAAM,YAAA,GAAe,cAAc,OAAA,GAAU,CAAA;AAC7C,MAAA,MAAM,YAAA,GAAe,cAAc,CAAA,GAAI,CAAA;AACvC,MAAA,SAAA,CAAU,IAAA,CAAK,YAAY,CAAA,GAAI,MAAA,CAAO,YAAY,CAAA;AAClD,MAAA,SAAA,CAAU,KAAK,YAAA,GAAe,CAAC,CAAA,GAAI,MAAA,CAAO,eAAe,CAAC,CAAA;AAC1D,MAAA,SAAA,CAAU,KAAK,YAAA,GAAe,CAAC,CAAA,GAAI,MAAA,CAAO,eAAe,CAAC,CAAA;AAC1D,MAAA,SAAA,CAAU,KAAK,YAAA,GAAe,CAAC,CAAA,GAAI,MAAA,CAAO,eAAe,CAAC,CAAA;AAAA,IAC5D;AAAA,EACF;AACA,EAAA,OAAA,CAAQ,YAAA,CAAa,SAAA,EAAW,CAAA,EAAG,CAAC,CAAA;AACtC;AAEA,SAAS,2BAA2B,KAAA,EAAuC;AACzE,EAAA,MAAM,SAA4B,EAAC;AACnC,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,IAAI,CAAC,OAAO,OAAA,EAAS;AACrB,IAAA,IAAI,CAAC,MAAA,CAAO,QAAA,CAAS,mBAAmB,CAAA,EAAG;AAC3C,IAAA,MAAA,CAAO,KAAK,EAAE,MAAA,EAAQ,OAAA,EAAS,MAAA,CAAO,SAAS,CAAA;AAC/C,IAAA,MAAA,CAAO,OAAA,GAAU,KAAA;AAAA,EACnB,CAAC,CAAA;AACD,EAAA,OAAO,MAAA;AACT;AAEA,SAAS,qBAAA,CACP,OACA,OAAA,EACmB;AACnB,EAAA,MAAM,SAA4B,EAAC;AACnC,EAAA,MAAM,eAAe,OAAA,CAAQ,gBAAA,GACzB,IAAI,GAAA,CAAI,OAAA,CAAQ,gBAAgB,CAAA,GAChC,IAAA;AACJ,EAAA,MAAM,gBAAgB,OAAA,CAAQ,iBAAA,GAC1B,IAAI,GAAA,CAAI,OAAA,CAAQ,iBAAiB,CAAA,GACjC,IAAA;AACJ,EAAA,MAAM,cAAc,OAAA,CAAQ,eAAA,GACxB,IAAI,GAAA,CAAI,OAAA,CAAQ,eAAe,CAAA,GAC/B,IAAA;AACJ,EAAA,IAAI,CAAC,YAAA,IAAgB,CAAC,aAAA,IAAiB,CAAC,aAAa,OAAO,MAAA;AAE5D,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,IAAI,CAAC,OAAO,OAAA,EAAS;AACrB,IAAA,MAAM,SAAA,GAAY,OAAO,QAAA,CAAS,SAAA;AAClC,IAAA,MAAM,QAAA,GAAW,OAAO,QAAA,CAAS,QAAA;AACjC,IAAA,IAAI,OAAO,SAAA,KAAc,QAAA,IAAY,OAAO,aAAa,QAAA,EAAU;AACnE,IAAA,IACE,aAAa,GAAA,CAAI,QAAQ,CAAA,IACzB,YAAA,EAAc,IAAI,SAAS,CAAA,IAC1B,OAAO,SAAA,KAAc,YAAY,aAAA,IAAiB,CAAC,aAAA,CAAc,GAAA,CAAI,SAAS,CAAA,EAC/E;AACA,MAAA,MAAA,CAAO,KAAK,EAAE,MAAA,EAAQ,OAAA,EAAS,MAAA,CAAO,SAAS,CAAA;AAC/C,MAAA,MAAA,CAAO,OAAA,GAAU,KAAA;AAAA,IACnB;AAAA,EACF,CAAC,CAAA;AACD,EAAA,OAAO,MAAA;AACT;AAEA,SAAS,wBAAwB,MAAA,EAA2B;AAC1D,EAAA,KAAA,MAAW,EAAE,MAAA,EAAQ,OAAA,EAAQ,IAAK,MAAA,EAAQ;AACxC,IAAA,MAAA,CAAO,OAAA,GAAU,OAAA;AAAA,EACnB;AACF;AAEA,SAAS,4BACP,OAAA,EAC0B;AAC1B,EAAA,IAAI,OAAA,CAAQ,MAAA,EAAQ,OAAO,OAAA,CAAQ,MAAA;AACnC,EAAA,IAAI,QAAQ,UAAA,EAAY;AACtB,IAAA,OAAO,EAAE,IAAA,EAAM,eAAA,EAAiB,UAAA,EAAY,QAAQ,UAAA,EAAW;AAAA,EACjE;AACA,EAAA,IAAI,QAAQ,QAAA,EAAU;AACpB,IAAA,OAAO,EAAE,IAAA,EAAM,aAAA,EAAe,QAAA,EAAU,QAAQ,QAAA,EAAS;AAAA,EAC3D;AACA,EAAA,IAAI,QAAQ,QAAA,EAAU;AACpB,IAAA,OAAO,EAAE,IAAA,EAAM,aAAA,EAAe,QAAA,EAAU,QAAQ,QAAA,EAAS;AAAA,EAC3D;AACA,EAAA,IAAI,OAAA,CAAQ,MAAA,EAAQ,OAAO,EAAE,MAAM,eAAA,EAAgB;AACnD,EAAA,IAAI,OAAA,CAAQ,QAAA,IAAY,OAAA,CAAQ,MAAA,IAAU,QAAQ,UAAA,EAAY;AAC5D,IAAA,OAAO,EAAE,MAAM,eAAA,EAAgB;AAAA,EACjC;AACA,EAAA,OAAO,EAAE,MAAM,iBAAA,EAAkB;AACnC;AAEA,SAAS,kBAAkB,QAAA,EAA8C;AACvE,EAAA,MAAM,QAAA,GAAW,IAAU,KAAA,CAAA,OAAA,EAAQ;AACnC,EAAA,MAAM,OAAA,GAAU,IAAU,KAAA,CAAA,OAAA,EAAQ;AAClC,EAAA,MAAM,UAAA,GAAa,IAAU,KAAA,CAAA,KAAA,EAAM;AACnC,EAAA,QAAA,CAAS,YAAY,QAAQ,CAAA;AAC7B,EAAA,QAAA,CAAS,WAAW,OAAO,CAAA;AAC3B,EAAA,QAAA,CAAS,cAAc,UAAU,CAAA;AACjC,EAAA,OAAO;AAAA,IACL,MAAA,EAAQ,SAAS,eAAA,EAAgB;AAAA,IACjC,SAAA,EAAW,SAAS,EAAA,CAAG,OAAA;AAAA,IACvB,QAAA;AAAA,IACA,OAAA;AAAA,IACA,WAAA,EAAa,SAAS,cAAA,EAAe;AAAA,IACrC,UAAA;AAAA,IACA,UAAA,EAAY,SAAS,aAAA,EAAc;AAAA,IACnC,WAAW,QAAA,CAAS;AAAA,GACtB;AACF;AAEA,SAAS,oBAAA,CACP,UACA,KAAA,EACA;AACA,EAAA,QAAA,CAAS,eAAA,CAAgB,MAAM,MAAM,CAAA;AACrC,EAAA,QAAA,CAAS,EAAA,CAAG,UAAU,KAAA,CAAM,SAAA;AAC5B,EAAA,QAAA,CAAS,WAAA,CAAY,MAAM,QAAQ,CAAA;AACnC,EAAA,QAAA,CAAS,UAAA,CAAW,MAAM,OAAO,CAAA;AACjC,EAAA,QAAA,CAAS,cAAA,CAAe,MAAM,WAAW,CAAA;AACzC,EAAA,QAAA,CAAS,aAAA,CAAc,KAAA,CAAM,UAAA,EAAY,KAAA,CAAM,UAAU,CAAA;AACzD,EAAA,QAAA,CAAS,YAAY,KAAA,CAAM,SAAA;AAC7B;AAEA,SAAS,mBACP,KAAA,EACiC;AACjC,EAAA,MAAM,YAAwC,EAAC;AAC/C,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,IAAI,UAAU,MAAA,EAAQ;AACtB,IAAA,MAAM,MAAA,GAAS,MAAA,CAAO,QAAA,CACpB,yCACF,CAAA;AACA,IAAA,IAAI,OAAO,MAAA,KAAW,UAAA,EAAY,SAAA,CAAU,KAAK,MAAM,CAAA;AAAA,EACzD,CAAC,CAAA;AACD,EAAA,OAAO,SAAA,CAAU,CAAC,CAAA,IAAK,IAAA;AACzB;AAEA,SAAS,yBAAyB,KAAA,EAAoB;AACpD,EAAA,MAAM,YAA2C,EAAC;AAClD,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,MAAM,QAAA,GAAW,MAAA,CAAO,QAAA,CACtB,6CACF,CAAA;AACA,IAAA,IAAI,OAAO,QAAA,KAAa,UAAA,EAAY,SAAA,CAAU,KAAK,QAAQ,CAAA;AAAA,EAC7D,CAAC,CAAA;AACD,EAAA,KAAA,MAAW,QAAA,IAAY,WAAW,QAAA,EAAS;AAC7C;AAEO,SAAS,gCACd,QAAA,EACA,KAAA,EACA,cAAA,EACA,OAAA,GAAqC,EAAC,EACX;AAC3B,EAAA,MAAM,EAAE,KAAA,EAAO,MAAA,EAAO,GAAI,oBAAA,CAAqB,UAAU,OAAO,CAAA;AAChE,EAAA,MAAM,MAAA,GAAS,mBAAA,CAAoB,OAAA,EAAS,cAAA,EAAgB,OAAO,MAAM,CAAA;AACzE,EAAA,MAAM,MAAA,GAAS,IAAU,KAAA,CAAA,iBAAA,CAAkB,KAAA,EAAO,MAAA,EAAQ;AAAA,IACxD,MAAA,EAAc,KAAA,CAAA,UAAA;AAAA,IACd,IAAA,EAAY,KAAA,CAAA;AAAA,GACb,CAAA;AACD,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,aAAA,CAAc,QAAQ,CAAA;AAC9C,EAAA,MAAA,CAAO,KAAA,GAAQ,KAAA;AACf,EAAA,MAAA,CAAO,MAAA,GAAS,MAAA;AAChB,EAAA,MAAM,OAAA,GAAU,MAAA,CAAO,UAAA,CAAW,IAAI,CAAA;AACtC,EAAA,IAAI,CAAC,OAAA,EAAS;AACZ,IAAA,MAAA,CAAO,OAAA,EAAQ;AACf,IAAA,MAAM,IAAI,MAAM,wDAAwD,CAAA;AAAA,EAC1E;AACA,EAAA,MAAM,WAAA,GAAc,OAAA;AAEpB,EAAA,MAAM,MAAA,GAAS,IAAI,UAAA,CAAW,KAAA,GAAQ,SAAS,CAAC,CAAA;AAChD,EAAA,MAAM,SAAA,GAAY,WAAA,CAAY,eAAA,CAAgB,KAAA,EAAO,MAAM,CAAA;AAE3D,EAAA,SAAS,qBAAA,CAAsB,WAAA,GAAyC,EAAC,EAAG;AAC1E,IAAA,MAAM,cAAA,GAAiB,EAAE,GAAG,OAAA,EAAS,GAAG,WAAA,EAAY;AACpD,IAAA,MAAM,cAAA,GAAiB,oBAAA,CAAqB,QAAA,EAAU,cAAc,CAAA;AACpE,IAAA,IACE,cAAA,CAAe,KAAA,KAAU,KAAA,IACzB,cAAA,CAAe,WAAW,MAAA,EAC1B;AACA,MAAA,MAAM,IAAI,KAAA;AAAA,QACR;AAAA,OACF;AAAA,IACF;AAEA,IAAA,oBAAA;AAAA,MACE,MAAA;AAAA,MACA,cAAA;AAAA,MACA,cAAA;AAAA,MACA,KAAA;AAAA,MACA;AAAA,KACF;AAEA,IAAA,OAAO,cAAA;AAAA,EACT;AAEA,EAAA,SAAS,sBAAsB,cAAA,EAA2C;AACxE,IAAA,MAAM,aAAA,GAAgB,kBAAkB,QAAQ,CAAA;AAChD,IAAA,MAAM,MAAA,GAAS;AAAA,MACb,GAAG,2BAA2B,KAAK,CAAA;AAAA,MACnC,GAAG,qBAAA,CAAsB,KAAA,EAAO,cAAc;AAAA,KAChD;AAEA,IAAA,wBAAA,CAAyB,KAAK,CAAA;AAC9B,IAAA,KAAA,CAAM,kBAAkB,IAAI,CAAA;AAC5B,IAAA,IAAI;AACF,MAAA,QAAA,CAAS,GAAG,OAAA,GAAU,KAAA;AACtB,MAAA,QAAA,CAAS,gBAAgB,MAAM,CAAA;AAC/B,MAAA,QAAA,CAAS,WAAA,CAAY,CAAA,EAAG,CAAA,EAAG,KAAA,EAAO,MAAM,CAAA;AACxC,MAAA,QAAA,CAAS,UAAA,CAAW,CAAA,EAAG,CAAA,EAAG,KAAA,EAAO,MAAM,CAAA;AACvC,MAAA,QAAA,CAAS,eAAe,KAAK,CAAA;AAC7B,MAAA,IAAI,cAAA,CAAe,eAAe,KAAA,CAAA,EAAW;AAC3C,QAAA,QAAA,CAAS,aAAA;AAAA,UACP,IAAU,KAAA,CAAA,KAAA,CAAM,cAAA,CAAe,UAAU,CAAA;AAAA,UACzC,cAAA,CAAe,mBAAmB,aAAA,CAAc;AAAA,SAClD;AAAA,MACF,CAAA,MAAA,IAAW,cAAA,CAAe,eAAA,KAAoB,KAAA,CAAA,EAAW;AACvD,QAAA,QAAA,CAAS,aAAA,CAAc,aAAA,CAAc,UAAA,EAAY,cAAA,CAAe,eAAe,CAAA;AAAA,MACjF;AACA,MAAA,QAAA,CAAS,KAAA,EAAM;AACf,MAAA,QAAA,CAAS,MAAA,CAAO,OAAO,MAAM,CAAA;AAC7B,MAAA,wBAAA;AAAA,QACE,QAAA;AAAA,QACA,MAAA;AAAA,QACA,MAAA;AAAA,QACA,WAAA;AAAA,QACA,MAAA;AAAA,QACA,SAAA;AAAA,QACA,KAAA;AAAA,QACA,MAAA;AAAA,QACA,QAAA,CAAS,gBAAA;AAAA,QACT,eAAe,KAAA,IAAS;AAAA,OAC1B;AACA,MAAA,OAAO;AAAA,QACL,MAAA;AAAA,QACA,MAAA;AAAA,QACA,KAAA;AAAA,QACA,MAAA;AAAA,QACA,MAAA,EAAQ,4BAA4B,cAAc;AAAA,OACpD;AAAA,IACF,CAAA,SAAE;AACA,MAAA,uBAAA,CAAwB,MAAM,CAAA;AAC9B,MAAA,oBAAA,CAAqB,UAAU,aAAa,CAAA;AAAA,IAC9C;AAAA,EACF;AAEA,EAAA,SAAS,OAAA,CAAQ,WAAA,GAAyC,EAAC,EAAG;AAC5D,IAAA,OAAO,qBAAA,CAAsB,qBAAA,CAAsB,WAAW,CAAC,CAAA;AAAA,EACjE;AAEA,EAAA,eAAe,YAAA,CAAa,WAAA,GAAyC,EAAC,EAAG;AACvE,IAAA,MAAM,cAAA,GAAiB,sBAAsB,WAAW,CAAA;AACxD,IAAA,wBAAA,CAAyB,KAAK,CAAA;AAC9B,IAAA,KAAA,CAAM,kBAAkB,IAAI,CAAA;AAC5B,IAAA,MAAM,eAAA,GAAkB,mBAAmB,KAAK,CAAA;AAChD,IAAA,IAAI,eAAA,EAAiB;AACnB,MAAA,MAAM,aAAA,GAAgB,kBAAkB,QAAQ,CAAA;AAChD,MAAA,MAAM,MAAA,GAAS;AAAA,QACb,GAAG,2BAA2B,KAAK,CAAA;AAAA,QACnC,GAAG,qBAAA,CAAsB,KAAA,EAAO,cAAc;AAAA,OAChD;AACA,MAAA,IAAI;AACF,QAAA,QAAA,CAAS,GAAG,OAAA,GAAU,KAAA;AACtB,QAAA,IAAI,cAAA,CAAe,eAAe,KAAA,CAAA,EAAW;AAC3C,UAAA,QAAA,CAAS,aAAA;AAAA,YACP,IAAU,KAAA,CAAA,KAAA,CAAM,cAAA,CAAe,UAAU,CAAA;AAAA,YACzC,cAAA,CAAe,mBAAmB,aAAA,CAAc;AAAA,WAClD;AAAA,QACF,CAAA,MAAA,IAAW,cAAA,CAAe,eAAA,KAAoB,KAAA,CAAA,EAAW;AACvD,UAAA,QAAA,CAAS,aAAA,CAAc,aAAA,CAAc,UAAA,EAAY,cAAA,CAAe,eAAe,CAAA;AAAA,QACjF;AACA,QAAA,MAAM,aAAA,GAAgB,MAAM,eAAA,CAAgB;AAAA,UAC1C,QAAA;AAAA,UACA,KAAA;AAAA,UACA,MAAA;AAAA,UACA,MAAA;AAAA,UACA,KAAA;AAAA,UACA;AAAA,SACD,CAAA;AACD,QAAA,IAAI,aAAA,EAAe;AACjB,UAAA,MAAM,YAAA,GAAe,cAAc,KAAA,IAAS,KAAA;AAC5C,UAAA,MAAM,aAAA,GAAgB,cAAc,MAAA,IAAU,MAAA;AAC9C,UAAA,IAAI,YAAA,KAAiB,KAAA,IAAS,aAAA,KAAkB,MAAA,EAAQ;AACtD,YAAA,MAAM,IAAI,KAAA;AAAA,cACR;AAAA,aACF;AAAA,UACF;AACA,UAAA,kBAAA;AAAA,YACE,aAAA,CAAc,MAAA;AAAA,YACd,WAAA;AAAA,YACA,SAAA;AAAA,YACA,KAAA;AAAA,YACA,MAAA;AAAA,YACA,cAAc,KAAA,IAAS,IAAA;AAAA,YACvB,aAAA,CAAc,KAAA,IAAS,cAAA,CAAe,KAAA,IAAS;AAAA,WACjD;AACA,UAAA,OAAO;AAAA,YACL,MAAA;AAAA,YACA,MAAA;AAAA,YACA,KAAA;AAAA,YACA,MAAA;AAAA,YACA,MAAA,EAAQ,4BAA4B,cAAc;AAAA,WACpD;AAAA,QACF;AAAA,MACF,CAAA,SAAE;AACA,QAAA,uBAAA,CAAwB,MAAM,CAAA;AAC9B,QAAA,oBAAA,CAAqB,UAAU,aAAa,CAAA;AAAA,MAC9C;AAAA,IACF;AACA,IAAA,OAAO,sBAAsB,cAAc,CAAA;AAAA,EAC7C;AAEA,EAAA,OAAO;AAAA,IACL,KAAA;AAAA,IACA,MAAA;AAAA,IACA,OAAA;AAAA,IACA,YAAA;AAAA,IACA,cAAA,CAAe,WAAA,GAAc,EAAC,EAAG;AAC/B,MAAA,MAAM,IAAA,GAAO,WAAA,CAAY,IAAA,IAAQ,OAAA,CAAQ,IAAA,IAAQ,WAAA;AACjD,MAAA,MAAM,MAAA,GAAS,QAAQ,WAAW,CAAA;AAClC,MAAA,OAAO;AAAA,QACL,GAAG,MAAA;AAAA,QACH,OAAA,EAAS,OAAO,MAAA,CAAO,SAAA;AAAA,UACrB,IAAA;AAAA,UACA,WAAA,CAAY,WAAW,OAAA,CAAQ;AAAA,SACjC;AAAA,QACA;AAAA,OACF;AAAA,IACF,CAAA;AAAA,IACA,MAAM,mBAAA,CAAoB,WAAA,GAAc,EAAC,EAAG;AAC1C,MAAA,MAAM,IAAA,GAAO,WAAA,CAAY,IAAA,IAAQ,OAAA,CAAQ,IAAA,IAAQ,WAAA;AACjD,MAAA,MAAM,MAAA,GAAS,MAAM,YAAA,CAAa,WAAW,CAAA;AAC7C,MAAA,OAAO;AAAA,QACL,GAAG,MAAA;AAAA,QACH,OAAA,EAAS,OAAO,MAAA,CAAO,SAAA;AAAA,UACrB,IAAA;AAAA,UACA,WAAA,CAAY,WAAW,OAAA,CAAQ;AAAA,SACjC;AAAA,QACA;AAAA,OACF;AAAA,IACF,CAAA;AAAA,IACA,MAAM,WAAA,CAAY,WAAA,GAAc,EAAC,EAAG;AAClC,MAAA,MAAM,IAAA,GAAO,WAAA,CAAY,IAAA,IAAQ,OAAA,CAAQ,IAAA,IAAQ,WAAA;AACjD,MAAA,MAAM,MAAA,GAAS,MAAM,YAAA,CAAa,WAAW,CAAA;AAC7C,MAAA,MAAM,OAAO,MAAM,IAAI,OAAA,CAAc,CAAC,SAAS,MAAA,KAAW;AACxD,QAAA,MAAA,CAAO,MAAA,CAAO,MAAA;AAAA,UACZ,CAAC,QAAA,KAAa;AACZ,YAAA,IAAI,QAAA,UAAkB,QAAQ,CAAA;AAAA,iBACzB,MAAA,CAAO,IAAI,KAAA,CAAM,8CAA8C,CAAC,CAAA;AAAA,UACvE,CAAA;AAAA,UACA,IAAA;AAAA,UACA,WAAA,CAAY,WAAW,OAAA,CAAQ;AAAA,SACjC;AAAA,MACF,CAAC,CAAA;AACD,MAAA,OAAO,EAAE,GAAG,MAAA,EAAQ,IAAA,EAAM,IAAA,EAAK;AAAA,IACjC,CAAA;AAAA,IACA,OAAA,GAAU;AACR,MAAA,MAAA,CAAO,OAAA,EAAQ;AAAA,IACjB;AAAA,GACF;AACF;AAEO,SAAS,0BACd,QAAA,EACA,KAAA,EACA,cAAA,EACA,OAAA,GAAqC,EAAC,EACtC;AACA,EAAA,MAAM,OAAA,GAAU,+BAAA;AAAA,IACd,QAAA;AAAA,IACA,KAAA;AAAA,IACA,cAAA;AAAA,IACA;AAAA,GACF;AACA,EAAA,IAAI;AACF,IAAA,OAAO,QAAQ,OAAA,EAAQ;AAAA,EACzB,CAAA,SAAE;AACA,IAAA,OAAA,CAAQ,OAAA,EAAQ;AAAA,EAClB;AACF;AAEA,eAAsB,mBACpB,QAAA,EACA,KAAA,EACA,cAAA,EACA,OAAA,GAAqC,EAAC,EACH;AACnC,EAAA,MAAM,IAAA,GAAO,QAAQ,IAAA,IAAQ,WAAA;AAC7B,EAAA,MAAM,OAAA,GAAU,+BAAA;AAAA,IACd,QAAA;AAAA,IACA,KAAA;AAAA,IACA,cAAA;AAAA,IACA;AAAA,GACF;AACA,EAAA,IAAI;AACF,IAAA,MAAM,MAAA,GAAS,MAAM,OAAA,CAAQ,YAAA,EAAa;AAC1C,IAAA,OAAO;AAAA,MACL,GAAG,MAAA;AAAA,MACH,SAAS,MAAA,CAAO,MAAA,CAAO,SAAA,CAAU,IAAA,EAAM,QAAQ,OAAO,CAAA;AAAA,MACtD;AAAA,KACF;AAAA,EACF,CAAA,SAAE;AACA,IAAA,OAAA,CAAQ,OAAA,EAAQ;AAAA,EAClB;AACF;AAEA,eAAsB,uBACpB,QAAA,EACA,KAAA,EACA,cAAA,EACA,OAAA,GAAqC,EAAC,EACC;AACvC,EAAA,MAAM,OAAA,GAAU,+BAAA;AAAA,IACd,QAAA;AAAA,IACA,KAAA;AAAA,IACA,cAAA;AAAA,IACA;AAAA,GACF;AACA,EAAA,IAAI;AACF,IAAA,OAAO,MAAM,QAAQ,WAAA,EAAY;AAAA,EACnC,CAAA,SAAE;AACA,IAAA,OAAA,CAAQ,OAAA,EAAQ;AAAA,EAClB;AACF;ACvoBA,IAAM,kBAAA,GAAqB,SAAA;AAEpB,SAAS,gBAAA,CAAiB;AAAA,EAC/B,MAAA,GAAS,QAAA;AAAA,EACT,UAAA,GAAa,IAAA;AAAA,EACb,SAAA,GAAY;AACd,CAAA,EAA0B;AACxB,EAAA,IAAI,WAAW,WAAA,EAAa;AAC1B,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,GAAA,EAAK,EAAA,EAAI,CAAC,CAAA;AAAA,UACrB,WAAW,GAAA,GAAM,SAAA;AAAA,UACjB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,kBAAA,EAAA,EAAiB,QAAA,EAAU,CAAC,EAAA,EAAI,KAAK,GAAG,CAAA,EAAG,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW;AAAA,KAAA,EAC3E,CAAA;AAAA,EAEJ;AAEA,EAAA,IAAI,WAAW,WAAA,EAAa;AAC1B,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,CAAA,EAAG,EAAA,EAAI,CAAC,CAAA;AAAA,UACnB,WAAW,IAAA,GAAO,SAAA;AAAA,UAClB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,YAAA,EAAA,EAAW,QAAA,EAAU,CAAC,IAAA,EAAM,MAAM,GAAG,CAAA,EAAG,SAAA,EAAW,GAAA,GAAM,SAAA,EAAW;AAAA,KAAA,EACvE,CAAA;AAAA,EAEJ;AAEA,EAAA,IAAI,WAAW,OAAA,EAAS;AACtB,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,GAAA,EAAK,IAAA,EAAM,GAAG,CAAA;AAAA,UACzB,WAAW,GAAA,GAAM,SAAA;AAAA,UACjB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,YAAA,EAAA,EAAW,QAAA,EAAU,CAAC,GAAA,EAAK,KAAK,GAAG,CAAA,EAAG,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW;AAAA,KAAA,EACtE,CAAA;AAAA,EAEJ;AAEA,EAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,oBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,oBAC3C,GAAA;AAAA,MAAC,kBAAA;AAAA,MAAA;AAAA,QACC,QAAA,EAAU,CAAC,GAAA,EAAK,EAAA,EAAI,CAAC,CAAA;AAAA,QACrB,WAAW,GAAA,GAAM,SAAA;AAAA,QACjB;AAAA;AAAA;AACF,GAAA,EACF,CAAA;AAEJ;AAEO,SAAS,qBAAA,CACd,MAAA,EACA,QAAA,GAAW,kBAAA,EACX;AACA,EAAA,IAAI,MAAA,KAAW,aAAa,OAAO,SAAA;AACnC,EAAA,IAAI,MAAA,KAAW,aAAa,OAAO,SAAA;AACnC,EAAA,IAAI,MAAA,KAAW,SAAS,OAAO,SAAA;AAC/B,EAAA,OAAO,QAAA;AACT;AAEO,SAAS,yBAAA,CACd,cACA,QAAA,EAC0B;AAC1B,EAAA,MAAM,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,GAAI,YAAA;AAClB,EAAA,MAAM,MAAA,GAAS,QAAA,EAAU,MAAA,EAAQ,MAAA,IAAU,CAAA;AAE3C,EAAA,OAAO;AAAA,IACL,QAAQ,CAAA,GAAI,MAAA,GAAS,GAAA,EAAK,OAAA,CAAQ,CAAC,CAAC,CAAA;AAAA,IACpC,QAAQ,CAAA,GAAI,MAAA,GAAS,GAAA,EAAK,OAAA,CAAQ,CAAC,CAAC,CAAA;AAAA,IACpC,QAAQ,CAAA,GAAI,MAAA,GAAS,IAAA,EAAM,OAAA,CAAQ,CAAC,CAAC;AAAA,GACvC;AACF;AAEO,SAAS,iCAAA,CAAkC;AAAA,EAChD,QAAA;AAAA,EACA,WAAA;AAAA,EACA,QAAA;AAAA,EACA,SAAA;AAAA,EACA;AACF,CAAA,EAAwE;AACtE,EAAA,OAAO,OAAA;AAAA,IACL,MACE,oCAAA,CAAqC;AAAA,MACnC,QAAA;AAAA,MACA,WAAA;AAAA,MACA,QAAA;AAAA,MACA,SAAA;AAAA,MACA;AAAA,KACD,CAAA;AAAA,IACH,CAAC,OAAA,EAAS,WAAA,EAAa,QAAA,EAAU,UAAU,SAAS;AAAA,GACtD;AACF;AAEO,SAAS,oCAAA,CAAqC;AAAA,EACnD,QAAA;AAAA,EACA,WAAA;AAAA,EACA,QAAA;AAAA,EACA,SAAA;AAAA,EACA,OAAA,GAAU;AACZ,CAAA,EAAwE;AACtE,EAAA,MAAM,iBAAA,GACJ,gBACC,QAAA,GAAW,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GAAI,MAAA,CAAA;AACrE,EAAA,MAAM,QAAQ,QAAA,EAAU,KAAA;AACxB,EAAA,MAAM,cAAA,GACJ,iBAAA,EAAmB,cAAA,IAAkB,KAAA,EAAO,cAAA,IAAkB,MAAA;AAChE,EAAA,MAAM,YAAY,4BAAA,CAA6B;AAAA,IAC7C,WAAA,EAAa,iBAAA;AAAA,IACb,QAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACD,EAAA,MAAM,SACJ,iBAAA,EAAmB,KAAA,CAAM,UAAU,KAAA,EAAO,MAAA,IAAU,UAAU,MAAA,IAAU,KAAA;AAE1E,EAAA,OAAO;AAAA,IACL,UAAA,EAAY,QAAA,EAAU,EAAA,IAAM,iBAAA,EAAmB,EAAA,IAAM,iBAAA;AAAA,IACrD,aAAA,EACE,QAAA,EAAU,KAAA,IAAS,iBAAA,EAAmB,KAAA,IAAS,iBAAA;AAAA,IACjD,SAAA;AAAA,IACA,IAAA,EAAM,UAAU,IAAA,IAAQ,CAAA;AAAA,IACxB,QAAA,EAAU,UAAU,QAAA,IAAY,QAAA;AAAA,IAChC,aAAa,QAAA,EAAU,WAAA;AAAA,IACvB,MAAA,EAAQ;AAAA,MACN,MAAA,EAAQ,QAAA,EAAU,MAAA,EAAQ,MAAA,IAAU,CAAA;AAAA,MACpC,QAAA,EAAU,QAAA,EAAU,MAAA,EAAQ,QAAA,IAAY,CAAA;AAAA,MACxC,KAAA,EAAO,QAAA,EAAU,MAAA,EAAQ,KAAA,IAAS,CAAA;AAAA,MAClC,IAAA,EAAM,QAAA,EAAU,MAAA,EAAQ,IAAA,IAAQ;AAAA,KAClC;AAAA,IACA,SAAA,EAAW;AAAA,MACT,qBAAA,EAAuB,OAAA;AAAA,QACrB,UAAU,SAAA,EAAW;AAAA,OACvB;AAAA,MACA,sBAAA,EAAwB,OAAA;AAAA,QACtB,UAAU,SAAA,EAAW;AAAA,OACvB;AAAA,MACA,SAAA,EAAW,UAAU,SAAA,EAAW,SAAA;AAAA,MAChC,SAAA,EAAW,UAAU,SAAA,EAAW;AAAA,KAClC;AAAA,IACA,YAAA,EAAc,OAAA,CAAQ,KAAA,EAAO,OAAA,IAAW,iBAAiB,CAAA;AAAA,IACzD,QAAA,EAAU,iBAAA,EAAmB,KAAA,CAAM,GAAA,IAAO,KAAA,EAAO,GAAA;AAAA,IACjD,WAAA,EAAa,MAAA;AAAA,IACb,aAAA,EAAe,QAAA,IAAY,iBAAA,EAAmB,KAAA,CAAM,QAAA;AAAA,IACpD,uBAAuB,cAAA,EAAgB,OAAA;AAAA,IACvC,sBAAsB,cAAA,EAAgB,MAAA;AAAA,IACtC,wBAAA,EAA0B,cAAA,EAAgB,UAAA,IAAc,EAAC;AAAA,IACzD,SAAA;AAAA,IACA,eAAA,EAAiB;AAAA,GACnB;AACF;AAEO,SAAS,sBAAsB,KAAA,EAAmC;AACvE,EAAA,wBAAA,CAAyB,KAAK,CAAA;AAC9B,EAAA,OAAO,IAAA;AACT;AAEO,SAAS,wBAAA,CAAyB;AAAA,EACvC,QAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV,eAAA,GAAkB,IAAA;AAAA,EAClB,QAAA,GAAW,IAAA;AAAA,EACX,aAAA,GAAgB,IAAA;AAAA,EAChB,cAAA,GAAiB,IAAA;AAAA,EACjB,UAAA;AAAA,EACA,OAAA;AAAA,EACA,MAAA;AAAA,EACA;AACF,CAAA,EAA+B;AAC7B,EAAA,MAAM,EAAE,EAAA,EAAI,KAAA,EAAO,UAAA,KAAe,QAAA,EAAS;AAE3C,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,IAAI,CAAC,OAAA,IAAW,CAAC,QAAA,EAAU;AACzB,MAAA,OAAO,MAAA;AAAA,IACT;AAEA,IAAA,MAAM,mBAAmB,EAAA,CAAG,mBAAA;AAC5B,IAAA,MAAM,qBAAqB,KAAA,CAAM,UAAA;AACjC,IAAA,MAAM,cAAc,KAAA,CAAM,GAAA;AAC1B,IAAA,MAAM,iBAAA,uBAAwB,GAAA,EAO5B;AAEF,IAAA,IAAI,aAAA,EAAe;AACjB,MAAA,EAAA,CAAG,mBAAA,GAAsB,QAAA,CAAS,MAAA,EAAQ,QAAA,IAAY,CAAA;AAAA,IACxD;AAEA,IAAA,IAAI,eAAA,EAAiB;AACnB,MAAA,KAAA,CAAM,aAAa,IAAUA,KAAA,CAAA,KAAA;AAAA,QAC3B,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ;AAAA,OACvD;AAAA,IACF;AAEA,IAAA,IAAI,QAAA,EAAU;AACZ,MAAA,KAAA,CAAM,GAAA,GAAM,iBAAA,CAAkB,QAAA,EAAU,UAAA,EAAY,SAAS,MAAM,CAAA;AAAA,IACrE;AAEA,IAAA,IAAI,cAAA,IAAkB,SAAS,SAAA,EAAW;AACxC,MAAA,sBAAA,CAAuB,KAAA,EAAO,QAAA,EAAU,iBAAA,EAAmB,cAAc,CAAA;AAAA,IAC3E;AAEA,IAAA,UAAA,EAAW;AAEX,IAAA,OAAO,MAAM;AACX,MAAA,EAAA,CAAG,mBAAA,GAAsB,gBAAA;AACzB,MAAA,KAAA,CAAM,UAAA,GAAa,kBAAA;AACnB,MAAA,KAAA,CAAM,GAAA,GAAM,WAAA;AAEZ,MAAA,KAAA,MAAW,CAAC,QAAA,EAAU,QAAQ,CAAA,IAAK,iBAAA,EAAmB;AACpD,QAAA,MAAM,OAAA,GAAU,2BAA2B,QAAQ,CAAA;AACnD,QAAA,IAAI,CAAC,OAAA,EAAS;AACd,QAAA,IAAI,SAAS,KAAA,EAAO,OAAA,CAAQ,KAAA,CAAM,IAAA,CAAK,SAAS,KAAK,CAAA;AACrD,QAAA,IAAI,OAAO,QAAA,CAAS,SAAA,KAAc,QAAA,EAAU;AAC1C,UAAA,OAAA,CAAQ,YAAY,QAAA,CAAS,SAAA;AAAA,QAC/B;AACA,QAAA,IAAI,OAAO,QAAA,CAAS,SAAA,KAAc,QAAA,EAAU;AAC1C,UAAA,OAAA,CAAQ,YAAY,QAAA,CAAS,SAAA;AAAA,QAC/B;AACA,QAAA,OAAA,CAAQ,WAAA,GAAc,IAAA;AAAA,MACxB;AAEA,MAAA,UAAA,EAAW;AAAA,IACb,CAAA;AAAA,EACF,CAAA,EAAG;AAAA,IACD,eAAA;AAAA,IACA,QAAA;AAAA,IACA,cAAA;AAAA,IACA,aAAA;AAAA,IACA,UAAA;AAAA,IACA,OAAA;AAAA,IACA,MAAA;AAAA,IACA,OAAA;AAAA,IACA,EAAA;AAAA,IACA,UAAA;AAAA,IACA,cAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACH;AASO,SAAS,gBAAA,CAAiB;AAAA,EAC/B,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,sBAAA;AAAA,EACA,QAAA;AAAA,EACA,eAAA,GAAkB,IAAA;AAAA,EAClB,GAAG;AACL,CAAA,EAA0B;AACxB,EAAA,MAAM,WAAW,mBAAA,CAAoB;AAAA,IACnC,WAAA;AAAA,IACA,QAAA;AAAA,IACA,QAAA;AAAA,IACA,GAAA;AAAA,IACA,MAAA;AAAA,IACA,cAAA,EAAgB;AAAA,GACjB,CAAA;AACD,EAAA,MAAM,gBAAA,GACJ,OAAO,UAAA,CAAW,QAAA,KAAa,QAAA,IAAY,WAAW,QAAA,KAAa,IAAA,GAC/D,UAAA,CAAW,QAAA,GACX,EAAC;AAEP,EAAA,uBACE,IAAA;AAAA,IAAC,OAAA;AAAA,IAAA;AAAA,MACE,GAAG,UAAA;AAAA,MACJ,QAAA,EAAU;AAAA,QACR,GAAG,gBAAA;AAAA,QACH,GAAG,QAAA,CAAS;AAAA,OACd;AAAA,MAEC,QAAA,EAAA;AAAA,QAAA,QAAA;AAAA,QACA,QAAA,IAAY,CAAC,eAAA,GAAkB,IAAA,uBAAQ,gBAAA,EAAA,EAAiB,CAAA;AAAA,QACxD;AAAA;AAAA;AAAA,GACH;AAEJ;AAEO,SAAS,mBAAA,CAAoB;AAAA,EAClC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA;AACF,CAAA,EAA4D;AAC1D,EAAA,MAAM,mBAAA,GAAsB,OAAA;AAAA,IAC1B,MACE,gBACC,QAAA,GACG,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GACnD,MAAA,CAAA;AAAA,IACN,CAAC,WAAA,EAAa,QAAA,EAAU,QAAQ;AAAA,GAClC;AACA,EAAA,MAAM,cAAc,GAAA,IAAO,mBAAA,EAAqB,KAAA,CAAM,GAAA,IAAO,UAAU,KAAA,EAAO,GAAA;AAC9E,EAAA,MAAM,iBACJ,MAAA,IACA,mBAAA,EAAqB,MAAM,MAAA,IAC3B,QAAA,EAAU,OAAO,MAAA,IACjB,KAAA;AACF,EAAA,MAAM,yBACJ,cAAA,IACA,mBAAA,EAAqB,cAAA,IACrB,QAAA,EAAU,OAAO,cAAA,IACjB,MAAA;AACF,EAAA,MAAM,SAAA,GAAY,OAAA;AAAA,IAChB,MACE,4BAAA,CAA6B;AAAA,MAC3B,WAAA,EAAa,mBAAA;AAAA,MACb,QAAA;AAAA,MACA,QAAA;AAAA,MACA,GAAA,EAAK,WAAA;AAAA,MACL,MAAA,EAAQ,cAAA;AAAA,MACR,cAAA,EAAgB;AAAA,KACjB,CAAA;AAAA,IACH;AAAA,MACE,cAAA;AAAA,MACA,QAAA;AAAA,MACA,sBAAA;AAAA,MACA,cAAA;AAAA,MACA,WAAA;AAAA,MACA,QAAA;AAAA,MACA;AAAA;AACF,GACF;AAEA,EAAA,OAAO,OAAA;AAAA,IACL,OAAO;AAAA,MACL,GAAA,EAAK,WAAA;AAAA,MACL,MAAA,EAAQ,cAAA;AAAA,MACR,cAAA,EAAgB,sBAAA;AAAA,MAChB,SAAA;AAAA,MACA,UAAU,8BAAA,CAA+B;AAAA,QACvC,WAAA,EAAa,mBAAA;AAAA,QACb,GAAA,EAAK,WAAA;AAAA,QACL,MAAA,EAAQ,cAAA;AAAA,QACR,cAAA,EAAgB,sBAAA;AAAA,QAChB;AAAA,OACD;AAAA,KACH,CAAA;AAAA,IACA;AAAA,MACE,mBAAA;AAAA,MACA,WAAA;AAAA,MACA,cAAA;AAAA,MACA,sBAAA;AAAA,MACA;AAAA;AACF,GACF;AACF;AAUO,SAAS,mBAAA,CAAoB;AAAA,EAClC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,WAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV;AACF,CAAA,EAAiD;AAC/C,EAAA,OAAO,OAAA;AAAA,IACL,MACE,sBAAA,CAAuB;AAAA,MACrB,WAAA;AAAA,MACA,QAAA;AAAA,MACA,WAAA;AAAA,MACA,OAAA;AAAA,MACA;AAAA,KACD,CAAA;AAAA,IACH,CAAC,OAAA,EAAS,WAAA,EAAa,QAAA,EAAU,UAAU,WAAW;AAAA,GACxD;AACF;AAQO,SAAS,sBAAA,CAAuB;AAAA,EACrC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,WAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV;AACF,CAAA,EAAiD;AAC/C,EAAA,MAAM,mBAAA,GAAsB,OAAA,GACxB,WAAA,KACC,QAAA,GACG,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GACnD,MAAA,CAAA,GACJ,MAAA;AACJ,EAAA,MAAM,YAAY,4BAAA,CAA6B;AAAA,IAC7C,WAAA,EAAa,mBAAA;AAAA,IACb,QAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACD,EAAA,MAAM,mBAAA,GAAsB,sBACxB,oBAAA,CAAqB,WAAA,EAAa,qBAAqB,EAAE,QAAA,EAAU,CAAA,GACnE,WAAA;AAEJ,EAAA,OAAO;AAAA,IACL,WAAA,EAAa,mBAAA;AAAA,IACb,WAAA,EAAa,mBAAA;AAAA,IACb,OAAA,EACE,OAAA,IAAW,SAAA,CAAU,MAAA,KAAW,+BAAA,CAAgC,QAAA;AAAA,IAClE;AAAA,GACF;AACF;AAEO,SAAS,4BAAA,CAA6B;AAAA,EAC3C,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,OAAA,GAAU;AACZ,CAAA,EAQ8B;AAC5B,EAAA,MAAM,QAAQ,QAAA,EAAU,KAAA;AACxB,EAAA,MAAM,WAAA,GAAc,GAAA,IAAO,WAAA,EAAa,KAAA,CAAM,OAAO,KAAA,EAAO,GAAA;AAC5D,EAAA,MAAM,iBACJ,MAAA,IAAU,WAAA,EAAa,KAAA,CAAM,MAAA,IAAU,OAAO,MAAA,IAAU,KAAA;AAC1D,EAAA,MAAM,gBAAA,GAAmB,QAAA,IAAY,WAAA,EAAa,KAAA,CAAM,QAAA;AACxD,EAAA,MAAM,sBAAA,GACJ,cAAA,IAAkB,WAAA,EAAa,cAAA,IAAkB,OAAO,cAAA,IAAkB,MAAA;AAC5E,EAAA,MAAM,sBAAA,GAAyB,OAAO,sBAAA,IAA0B,IAAA;AAEhE,EAAA,IAAI,CAAC,OAAA,IAAY,KAAA,IAAS,MAAM,OAAA,KAAY,KAAA,IAAS,CAAC,WAAA,EAAc;AAClE,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,QAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,SAAS,EAAC;AAAA,MACV,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,IAAI,CAAC,WAAA,EAAa;AAChB,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,YAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,OAAA,EAAS,CAAC,OAAO,CAAA;AAAA,MACjB,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,IAAI,gBAAA,KAAqB,OAAA,IAAW,cAAA,KAAmB,KAAA,EAAO;AAC5D,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,iBAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,SAAS,EAAC;AAAA,MACV,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS,wDAAwD,cAAc,CAAA,CAAA;AAAA,KACjF;AAAA,EACF;AAEA,EAAA,IAAI,sBAAA,IAA0B,CAAC,sBAAA,EAAwB,OAAA,EAAS;AAC9D,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,qBAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,OAAA,EAAS,CAAC,gBAAgB,CAAA;AAAA,MAC1B,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,OAAO;AAAA,IACL,QAAQ,+BAAA,CAAgC,KAAA;AAAA,IACxC,KAAA,EAAO,IAAA;AAAA,IACP,sBAAA;AAAA,IACA,SAAS,EAAC;AAAA,IACV,MAAA,EAAQ,cAAA;AAAA,IACR,QAAA,EAAU,gBAAA;AAAA,IACV,OAAA,EAAS,yBACL,kEAAA,GACA;AAAA,GACN;AACF;AAOO,SAAS,4BAAA,CACd,QAAA,EACA,OAAA,GAKI,EAAC,EACqC;AAC1C,EAAA,MAAM,QAAQ,QAAA,CAAS,KAAA;AACvB,EAAA,MAAM,iBAAiB,KAAA,EAAO,cAAA;AAE9B,EAAA,IAAI,CAAC,KAAA,EAAO,OAAA,IAAW,CAAC,MAAM,GAAA,EAAK;AACjC,IAAA,OAAO,MAAA;AAAA,EACT;AAEA,EAAA,OAAO;AAAA,IACL,EAAA,EAAI,OAAA,CAAQ,EAAA,IAAM,QAAA,CAAS,EAAA,IAAM,mBAAA;AAAA,IACjC,KAAA,EAAO,OAAA,CAAQ,KAAA,IAAS,QAAA,CAAS,KAAA,IAAS,4BAAA;AAAA,IAC1C,WAAA,EACE,QAAQ,WAAA,KACP,QAAA,CAAS,cACN,CAAA,OAAA,EAAU,QAAA,CAAS,WAAW,CAAA,wCAAA,CAAA,GAC9B,MAAA,CAAA;AAAA,IACN,KAAA,EAAO;AAAA,MACL,KAAK,KAAA,CAAM,GAAA;AAAA,MACX,MAAA,EAAQ,MAAM,MAAA,IAAU,KAAA;AAAA,MACxB,UAAU,OAAA,CAAQ;AAAA,KACpB;AAAA,IACA,cAAA,EAAgB,gBAAgB,OAAA,GAC5B;AAAA,MACE,GAAG,cAAA;AAAA,MACH,SAAS,cAAA,CAAe;AAAA,KAC1B,GACA;AAAA,GACN;AACF;AAEA,SAAS,yBAAyB,KAAA,EAA+D;AAC/F,EAAA,OACE,CAAC,CAAC,KAAA,IACF,OAAA,IAAW,KAAA,IACX,CAAC,CAAC,KAAA,CAAM,KAAA,IACR,EAAE,SAAA,IAAa,KAAA,CAAM,KAAA,CAAA;AAEzB;AAEA,SAAS,iBAAA,CAAkB,aAA0B,IAAA,EAAsB;AACzE,EAAA,MAAM,MAAM,WAAA,CAAY,GAAA;AACxB,EAAA,IAAI,CAAC,KAAK,OAAO,IAAA;AAEjB,EAAA,MAAM,OAAO,GAAA,CAAI,QAAA,CAAS,GAAG,CAAA,GAAI,MAAM,GAAA,GAAM,GAAA;AAC7C,EAAA,IAAI,IAAA,CAAK,WAAW,IAAI,CAAA,SAAU,IAAA,CAAK,KAAA,CAAM,KAAK,MAAM,CAAA;AACxD,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,YAAY,KAAA,EAAoC;AACvD,EAAA,MAAM,IAAA,uBAAW,GAAA,EAAY;AAC7B,EAAA,MAAM,SAAmB,EAAC;AAC1B,EAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,IAAA,IAAI,IAAA,CAAK,GAAA,CAAI,IAAI,CAAA,EAAG;AACpB,IAAA,IAAA,CAAK,IAAI,IAAI,CAAA;AACb,IAAA,MAAA,CAAO,KAAK,IAAI,CAAA;AAAA,EAClB;AACA,EAAA,OAAO,MAAA;AACT;AASO,SAAS,oBAAA,CACd,WAAA,EACA,KAAA,EACA,OAAA,GAA4C,EAAC,EAChC;AACb,EAAA,MAAM,WAAA,GAAc,yBAAyB,KAAK,CAAA,GAC9C,QACA,KAAA,GACE,4BAAA,CAA6B,KAAA,EAAO,OAAO,CAAA,GAC3C,MAAA;AACN,EAAA,MAAM,OAAA,GAAU,aAAa,cAAA,EAAgB,OAAA;AAC7C,EAAA,IAAI,CAAC,SAAS,OAAO,WAAA;AAErB,EAAA,OAAO;AAAA,IACL,GAAG,WAAA;AAAA,IACH,kBAAkB,WAAA,CAAY;AAAA,MAC5B,GAAI,WAAA,CAAY,gBAAA,IAAoB,EAAC;AAAA,MACrC,iBAAA,CAAkB,aAAa,OAAO;AAAA,KACvC;AAAA,GACH;AACF;AAEO,SAAS,8BAAA,CAA+B;AAAA,EAC7C,WAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA,GAAS,KAAA;AAAA,EACT,cAAA;AAAA,EACA;AACF,CAAA,EAMG;AACD,EAAA,OAAO;AAAA,IACL,IAAA,EAAM,mBAAA;AAAA,IACN,eAAe,WAAA,EAAa,EAAA;AAAA,IAC5B,kBAAkB,WAAA,EAAa,KAAA;AAAA,IAC/B,QAAA,EAAU,GAAA;AAAA,IACV,WAAA,EAAa,MAAA;AAAA,IACb,aAAA,EAAe,aAAa,KAAA,CAAM,QAAA;AAAA,IAClC,oBAAA,EAAsB,gBAAgB,MAAA,IAAU,SAAA;AAAA,IAChD,uBAAuB,cAAA,EAAgB,OAAA;AAAA,IACvC,wBAAA,EAA0B,cAAA,EAAgB,UAAA,IAAc,EAAC;AAAA,IACzD,iBAAiB,SAAA,EAAW,MAAA;AAAA,IAC5B,kBAAkB,SAAA,EAAW;AAAA,GAC/B;AACF;AAEO,SAAS,yBAAA,CAA0B;AAAA,EACxC,SAAA;AAAA,EACA;AACF,CAAA,EAGG;AACD,EAAA,MAAM,GAAA,GAAM,IAAI,GAAA,CAAI,SAAA,EAAW,2BAA2B,CAAA;AAC1D,EAAA,GAAA,CAAI,YAAA,CAAa,GAAA,CAAI,OAAA,EAAS,QAAQ,CAAA;AACtC,EAAA,OAAO,SAAA,CAAU,UAAA,CAAW,MAAM,CAAA,GAAI,GAAA,CAAI,QAAA,EAAS,GAAI,CAAA,EAAG,GAAA,CAAI,QAAQ,CAAA,EAAG,GAAA,CAAI,MAAM,CAAA,CAAA;AACrF;AAEA,SAAS,gBAAA,GAAmB;AAC1B,EAAA,uBACE,GAAA,CAAC,WACC,QAAA,kBAAA,IAAA,CAAC,MAAA,EAAA,EAAK,UAAU,CAAC,CAAA,EAAG,CAAA,EAAG,GAAG,CAAA,EACxB,QAAA,EAAA;AAAA,oBAAA,GAAA,CAAC,iBAAY,IAAA,EAAM,CAAC,GAAA,EAAK,GAAA,EAAK,GAAG,CAAA,EAAG,CAAA;AAAA,oBACpC,GAAA;AAAA,MAAC,mBAAA;AAAA,MAAA;AAAA,QACC,KAAA,EAAM,SAAA;AAAA,QACN,WAAA,EAAW,IAAA;AAAA,QACX,OAAA,EAAS,IAAA;AAAA,QACT,SAAA,EAAS,IAAA;AAAA,QACT,IAAA,EAAYA,KAAA,CAAA;AAAA;AAAA;AACd,GAAA,EACF,CAAA,EACF,CAAA;AAEJ;AAEA,SAAS,iBAAA,CACP,QAAA,EACA,UAAA,EACA,OAAA,EACA,MAAA,EACA;AACA,EAAA,IAAI,QAAA,CAAS,aAAa,WAAA,EAAa;AACrC,IAAA,OAAO,IAAUA,KAAA,CAAA,GAAA;AAAA,MACf,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ,CAAA;AAAA,MACrD,OAAA,IAAW,GAAA;AAAA,MACX,MAAA,IAAU;AAAA,KACZ;AAAA,EACF;AAEA,EAAA,IAAI,QAAA,CAAS,aAAa,WAAA,EAAa;AACrC,IAAA,OAAO,IAAUA,KAAA,CAAA,GAAA;AAAA,MACf,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ,CAAA;AAAA,MACrD,OAAA,IAAW,CAAA;AAAA,MACX,MAAA,IAAU;AAAA,KACZ;AAAA,EACF;AAEA,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,sBAAA,CACP,KAAA,EACA,QAAA,EACA,SAAA,EAQA,cAAA,EACA;AACA,EAAA,MAAM,YAAY,QAAA,CAAS,SAAA;AAC3B,EAAA,IAAI,CAAC,SAAA,EAAW;AAEhB,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,IAAI,EAAE,kBAAwBA,KAAA,CAAA,IAAA,CAAA,EAAO;AACnC,MAAA;AAAA,IACF;AAEA,IAAA,KAAA,MAAW,QAAA,IAAY,kBAAA,CAAmB,MAAA,CAAO,QAAQ,CAAA,EAAG;AAC1D,MAAA,MAAM,OAAA,GAAU,2BAA2B,QAAQ,CAAA;AACnD,MAAA,IAAI,CAAC,OAAA,EAAS;AACd,MAAA,IAAI,kBAAkB,CAAC,cAAA,CAAe,EAAE,MAAA,EAAQ,QAAA,EAAU,CAAA,EAAG;AAE7D,MAAA,IAAI,CAAC,SAAA,CAAU,GAAA,CAAI,QAAQ,CAAA,EAAG;AAC5B,QAAA,SAAA,CAAU,IAAI,QAAA,EAAU;AAAA,UACtB,KAAA,EAAO,OAAA,CAAQ,KAAA,CAAM,KAAA,EAAM;AAAA,UAC3B,WAAW,OAAA,CAAQ,SAAA;AAAA,UACnB,WAAW,OAAA,CAAQ;AAAA,SACpB,CAAA;AAAA,MACH;AAEA,MAAA,qBAAA,CAAsB,OAAA,EAAS,MAAA,EAAQ,QAAA,EAAU,SAAS,CAAA;AAAA,IAC5D;AAAA,EACF,CAAC,CAAA;AACH;AAEA,SAAS,qBAAA,CACP,QAAA,EACA,MAAA,EACA,QAAA,EACA,SAAA,EACA;AACA,EAAA,MAAM,IAAA,GAAO,SAAS,IAAA,IAAQ,CAAA;AAC9B,EAAA,MAAM,SAAA,GAAY,CAAA,EAAG,QAAA,CAAS,EAAA,IAAM,UAAU,CAAA,CAAA,EAAI,MAAA,CAAO,IAAI,CAAA,CAAA,EAAI,QAAA,CAAS,IAAI,CAAA,CAAA,EAAI,IAAI,CAAA,CAAA;AACtF,EAAA,MAAM,SAAA,GAAY,mBAAmB,SAAS,CAAA;AAE9C,EAAA,IAAI,UAAU,qBAAA,EAAuB;AACnC,IAAA,QAAA,CAAS,KAAA,CAAM,MAAA,CAAO,SAAA,EAAW,IAAA,EAAM,IAAI,CAAA;AAAA,EAC7C;AAEA,EAAA,IAAI,UAAU,sBAAA,EAAwB;AACpC,IAAA,QAAA,CAAS,SAAA,GAAY,OAAA;AAAA,MACnB,SAAA,CAAU,SAAA,IAAa,IAAA,GAAO,SAAA,GAAY;AAAA,KAC5C;AACA,IAAA,QAAA,CAAS,SAAA,GAAY,OAAA;AAAA,MACnB,SAAA,CAAU,aAAa,SAAA,GAAY;AAAA,KACrC;AAAA,EACF;AAEA,EAAA,QAAA,CAAS,WAAA,GAAc,IAAA;AACzB;AAEA,SAAS,mBACP,QAAA,EACkB;AAClB,EAAA,OAAO,MAAM,OAAA,CAAQ,QAAQ,CAAA,GAAI,QAAA,GAAW,CAAC,QAAQ,CAAA;AACvD;AAEA,SAAS,2BACP,QAAA,EACgE;AAChE,EAAA,IACE,QAAA,YAA0BA,KAAA,CAAA,oBAAA,IAC1B,QAAA,YAA0BA,KAAA,CAAA,oBAAA,EAC1B;AACA,IAAA,OAAO,QAAA;AAAA,EACT;AAEA,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,mBAAmB,KAAA,EAAe;AACzC,EAAA,IAAI,IAAA,GAAO,UAAA;AACX,EAAA,KAAA,IAAS,QAAQ,CAAA,EAAG,KAAA,GAAQ,KAAA,CAAM,MAAA,EAAQ,SAAS,CAAA,EAAG;AACpD,IAAA,IAAA,IAAQ,KAAA,CAAM,WAAW,KAAK,CAAA;AAC9B,IAAA,IAAA,GAAO,IAAA,CAAK,IAAA,CAAK,IAAA,EAAM,QAAQ,CAAA;AAAA,EACjC;AACA,EAAA,OAAA,CAAQ,SAAS,CAAA,IAAK,UAAA;AACxB;AAEA,SAAS,QAAQ,KAAA,EAAe;AAC9B,EAAA,OAAO,KAAK,GAAA,CAAI,CAAA,EAAG,KAAK,GAAA,CAAI,CAAA,EAAG,KAAK,CAAC,CAAA;AACvC","file":"chunk-CYDGWNKQ.js","sourcesContent":["/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\n\n// ---- Register (type-safe named resources) ----\n\n/**\n * Module augmentation interface for type-safe resource names.\n *\n * Declare your model's resource names via module augmentation:\n * ```ts\n * declare module 'mujoco-react' {\n *   interface Register {\n *     models: {\n *       panda: {\n *         actuators: 'joint1' | 'joint2' | 'gripper';\n *         sensors: 'force_sensor' | 'torque_sensor';\n *         bodies: 'link0' | 'link1' | 'hand';\n *       };\n *     };\n *     actuators: 'joint1' | 'joint2' | 'gripper';\n *     sensors: 'force_sensor' | 'torque_sensor';\n *     bodies: 'link0' | 'link1' | 'hand';\n *   }\n * }\n * ```\n *\n * When no augmentation is declared, all names fall back to `string`.\n */\nexport interface Register {}\n\nexport type RegisteredModelMap = Register extends { models: infer T extends Record<string, Record<string, string>> }\n  ? T\n  : never;\nexport type Models = [RegisteredModelMap] extends [never] ? string : Extract<keyof RegisteredModelMap, string>;\nexport type ModelResource<TModel extends string, TKey extends string> =\n  [RegisteredModelMap] extends [never]\n    ? string\n    : TModel extends keyof RegisteredModelMap\n      ? TKey extends keyof RegisteredModelMap[TModel]\n        ? RegisteredModelMap[TModel][TKey]\n        : string\n      : never;\nexport type ModelActuators<TModel extends string> = ModelResource<TModel, 'actuators'>;\nexport type ModelSensors<TModel extends string> = ModelResource<TModel, 'sensors'>;\nexport type ModelBodies<TModel extends string> = ModelResource<TModel, 'bodies'>;\nexport type ModelJoints<TModel extends string> = ModelResource<TModel, 'joints'>;\nexport type ModelSites<TModel extends string> = ModelResource<TModel, 'sites'>;\nexport type ModelGeoms<TModel extends string> = ModelResource<TModel, 'geoms'>;\nexport type ModelKeyframes<TModel extends string> = ModelResource<TModel, 'keyframes'>;\nexport type ModelCameras<TModel extends string> = ModelResource<TModel, 'cameras'>;\n\nexport type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type ModelResourceObject<TModel extends string, TKey extends RegisterResourceKey> =\n  string extends ModelResource<TModel, TKey>\n    ? Record<string, string>\n    : { readonly [K in ModelResource<TModel, TKey>]: K };\nexport type ModelResourceCategory<TKey extends RegisterResourceKey> =\n  string extends Models\n    ? Record<string, Record<string, string>>\n    : { readonly [TModel in Models]: ModelResourceObject<TModel, TKey> };\nexport type ModelResourceRegistry =\n  string extends Models\n    ? Record<string, Record<RegisterResourceKey, Record<string, string>>>\n    : { readonly [TModel in Models]: { readonly [TKey in RegisterResourceKey]: ModelResourceObject<TModel, TKey> } };\n\ntype RuntimeModelResources = Record<string, Record<RegisterResourceKey, Record<string, string>>>;\ntype RuntimeModelResourceRegistration = Readonly<Record<string, Readonly<Record<RegisterResourceKey, Readonly<Record<string, string>>>>>>;\n\nconst runtimeModelResources: RuntimeModelResources = {};\nconst REGISTER_RESOURCE_KEYS: RegisterResourceKey[] = ['actuators', 'sensors', 'bodies', 'joints', 'sites', 'geoms', 'keyframes', 'cameras'];\n\nfunction createEmptyRuntimeResources(): Record<RegisterResourceKey, Record<string, string>> {\n  return {\n    actuators: {},\n    sensors: {},\n    bodies: {},\n    joints: {},\n    sites: {},\n    geoms: {},\n    keyframes: {},\n    cameras: {},\n  };\n}\n\nexport function registerModelResources(resources: RuntimeModelResourceRegistration): void {\n  for (const [model, modelResources] of Object.entries(resources)) {\n    const existing = runtimeModelResources[model] ?? createEmptyRuntimeResources();\n    for (const key of REGISTER_RESOURCE_KEYS) {\n      existing[key] = { ...existing[key], ...(modelResources[key] ?? {}) };\n    }\n    runtimeModelResources[model] = existing;\n  }\n}\n\nfunction createResourceCategory<TKey extends RegisterResourceKey>(key: TKey): ModelResourceCategory<TKey> {\n  return new Proxy({}, {\n    get(_target, model) {\n      if (typeof model !== 'string') return undefined;\n      return runtimeModelResources[model]?.[key] ?? {};\n    },\n    ownKeys() {\n      return Reflect.ownKeys(runtimeModelResources);\n    },\n    getOwnPropertyDescriptor(_target, model) {\n      if (typeof model !== 'string' || !(model in runtimeModelResources)) return undefined;\n      return { enumerable: true, configurable: true };\n    },\n  }) as ModelResourceCategory<TKey>;\n}\n\nexport const ModelResources: ModelResourceRegistry = new Proxy(runtimeModelResources, {\n  get(target, model) {\n    if (typeof model !== 'string') return undefined;\n    return target[model] ?? createEmptyRuntimeResources();\n  },\n  ownKeys(target) {\n    return Reflect.ownKeys(target);\n  },\n  getOwnPropertyDescriptor(target, model) {\n    if (typeof model !== 'string' || !(model in target)) return undefined;\n    return { enumerable: true, configurable: true };\n  },\n}) as ModelResourceRegistry;\n\nexport const ModelActuators: ModelResourceCategory<'actuators'> = createResourceCategory('actuators');\nexport const ModelSensors: ModelResourceCategory<'sensors'> = createResourceCategory('sensors');\nexport const ModelBodies: ModelResourceCategory<'bodies'> = createResourceCategory('bodies');\nexport const ModelJoints: ModelResourceCategory<'joints'> = createResourceCategory('joints');\nexport const ModelSites: ModelResourceCategory<'sites'> = createResourceCategory('sites');\nexport const ModelGeoms: ModelResourceCategory<'geoms'> = createResourceCategory('geoms');\nexport const ModelKeyframes: ModelResourceCategory<'keyframes'> = createResourceCategory('keyframes');\nexport const ModelCameras: ModelResourceCategory<'cameras'> = createResourceCategory('cameras');\n\nexport type Actuators = Register extends { actuators: infer T extends string } ? T : string;\nexport type Sensors = Register extends { sensors: infer T extends string } ? T : string;\nexport type Bodies = Register extends { bodies: infer T extends string } ? T : string;\nexport type Joints = Register extends { joints: infer T extends string } ? T : string;\nexport type Sites = Register extends { sites: infer T extends string } ? T : string;\nexport type Geoms = Register extends { geoms: infer T extends string } ? T : string;\nexport type Keyframes = Register extends { keyframes: infer T extends string } ? T : string;\nexport type Cameras = Register extends { cameras: infer T extends string } ? T : string;\n\n// ---- MuJoCo WASM Types ----\n\n/**\n * A single MuJoCo contact from the WASM module.\n * Accessed via `data.contact.get(i)`.\n */\nexport interface MujocoContact {\n  geom1: number;\n  geom2: number;\n  pos: Float64Array;\n  frame: Float64Array;\n  dist: number;\n}\n\n/**\n * WASM contact array — supports indexed access via `.get(i)`.\n */\nexport interface MujocoContactArray {\n  get(i: number): MujocoContact | undefined;\n  delete?: () => void;\n}\n\n/**\n * Read a single contact from an already-acquired WASM contact array.\n * Returns undefined if the access fails (WASM heap issue, bad index, etc.).\n */\nexport function getContact(contacts: MujocoContactArray, i: number): MujocoContact | undefined {\n  try {\n    return contacts.get(i);\n  } catch {\n    return undefined;\n  }\n}\n\n/**\n * Access the current contact vector and release the copied WASM handle afterwards.\n */\nexport function withContacts<T>(data: MujocoData, read: (contacts: MujocoContactArray) => T): T {\n  const contacts = data.contact;\n  try {\n    return read(contacts);\n  } finally {\n    contacts.delete?.();\n  }\n}\n\n/**\n * Minimal interface for MuJoCo Model to avoid 'any'.\n */\nexport interface MujocoModel {\n  // Counts\n  nbody: number;\n  ngeom: number;\n  nsite: number;\n  nu: number;\n  njnt: number;\n  nq: number;\n  nv: number;\n  nkey: number;\n  nsensor: number;\n  nsensordata: number;\n  nlight: number;\n  ntendon: number;\n  nflex: number;\n  nmesh: number;\n  nmat: number;\n  ncam?: number;\n\n  // Name tables\n  names: Int8Array;\n  name_bodyadr: Int32Array;\n  name_jntadr: Int32Array;\n  name_geomadr: Int32Array;\n  name_siteadr: Int32Array;\n  name_actuatoradr: Int32Array;\n  name_keyadr: Int32Array;\n  name_sensoradr: Int32Array;\n  name_tendonadr: Int32Array;\n  name_camadr?: Int32Array;\n\n  // Body\n  body_mass: Float64Array;\n  body_parentid: Int32Array;\n  body_jntnum: Int32Array;\n  body_jntadr: Int32Array;\n  body_pos: Float64Array;\n  body_quat: Float64Array;\n  body_geomnum: Int32Array;\n  body_geomadr: Int32Array;\n  body_inertia: Float64Array;\n\n  // Default configuration\n  qpos0: Float64Array;\n\n  // Joint\n  jnt_qposadr: Int32Array;\n  jnt_dofadr: Int32Array;\n  jnt_type: Int32Array;\n  jnt_range: Float64Array;\n  jnt_bodyid: Int32Array;\n  jnt_pos: Float64Array;\n  jnt_axis: Float64Array;\n  jnt_limited: Uint8Array;\n\n  // Geom\n  geom_group: Int32Array;\n  geom_type: Int32Array;\n  geom_size: Float64Array;\n  geom_pos: Float64Array;\n  geom_quat: Float64Array;\n  geom_matid: Int32Array;\n  geom_rgba: Float32Array;\n  geom_dataid: Int32Array;\n  geom_bodyid: Int32Array;\n  geom_contype: Int32Array;\n  geom_conaffinity: Int32Array;\n  geom_friction: Float64Array;\n\n  // Material\n  mat_texid: Int32Array;\n  mat_texrepeat: Float32Array;\n  mat_texuniform: Uint8Array;\n  mat_rgba: Float32Array;\n\n  // Texture\n  tex_adr: Int32Array;\n  tex_data: Uint8Array;\n  tex_height: Int32Array;\n  tex_nchannel: Int32Array;\n  tex_width: Int32Array;\n\n  // Mesh\n  mesh_vertadr: Int32Array;\n  mesh_vertnum: Int32Array;\n  mesh_faceadr: Int32Array;\n  mesh_facenum: Int32Array;\n  mesh_vert: Float32Array;\n  mesh_face: Int32Array;\n  mesh_normal: Float32Array;\n\n  // Site\n  site_bodyid: Int32Array;\n\n  // Actuator\n  actuator_trnid: Int32Array;\n  actuator_ctrlrange: Float64Array;\n  actuator_trntype: Int32Array;\n  actuator_gainprm: Float64Array;\n  actuator_biasprm: Float64Array;\n\n  // Sensor\n  sensor_type: Int32Array;\n  sensor_dim: Int32Array;\n  sensor_adr: Int32Array;\n  sensor_objtype: Int32Array;\n  sensor_objid: Int32Array;\n\n  // Keyframe\n  key_qpos: Float64Array;\n  key_ctrl: Float64Array;\n  key_time: Float64Array;\n  key_qvel: Float64Array;\n\n  // Light\n  light_pos: Float64Array;\n  light_dir: Float64Array;\n  light_diffuse: Float32Array;\n  light_specular: Float32Array;\n  light_type: Int32Array;\n  light_active: Uint8Array;\n  light_castshadow: Uint8Array;\n  light_attenuation: Float32Array;\n  light_cutoff: Float32Array;\n  light_exponent: Float32Array;\n  light_intensity: Float32Array;\n\n  // Camera\n  cam_bodyid?: Int32Array;\n  cam_pos?: Float64Array;\n  cam_quat?: Float64Array;\n  cam_fovy?: Float64Array;\n\n  // Tendon\n  ten_wrapadr: Int32Array;\n  ten_wrapnum: Int32Array;\n  ten_range: Float64Array;\n  ten_rgba: Float32Array;\n  ten_width: Float64Array;\n\n  // Flex\n  flex_vertadr: Int32Array;\n  flex_vertnum: Int32Array;\n  flex_faceadr: Int32Array;\n  flex_facenum: Int32Array;\n  flex_face: Int32Array;\n  flex_rgba: Float32Array;\n\n  // Model options\n  opt: {\n    timestep: number;\n    gravity: Float64Array;\n    integrator: number;\n    [key: string]: unknown;\n  };\n\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for MuJoCo Data to avoid 'any'.\n */\nexport interface MujocoData {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  xpos: Float64Array;\n  xquat: Float64Array;\n  xfrc_applied: Float64Array;\n  qfrc_applied: Float64Array;\n  qfrc_bias: Float64Array;\n  site_xpos: Float64Array;\n  site_xmat: Float64Array;\n  cam_xpos?: Float64Array;\n  cam_xmat?: Float64Array;\n  xmat?: Float64Array;\n  sensordata: Float64Array;\n  ncon: number;\n  contact: MujocoContactArray;\n  cvel: Float64Array;\n  cfrc_ext: Float64Array;\n  ten_length: Float64Array;\n  wrap_xpos: Float64Array;\n  ten_wrapadr: Int32Array;\n  flexvert_xpos: Float64Array;\n  geom_xpos: Float64Array;\n  geom_xmat: Float64Array;\n  delete: () => void;\n  [key: string]: unknown;\n}\n\n/**\n * Minimal interface for the MuJoCo WASM Module.\n */\nexport interface MujocoModule {\n  MjModel: {\n    from_xml_path?: (path: string) => MujocoModel;\n    from_xml_string?: (xml: string, vfs?: unknown) => MujocoModel;\n    loadFromXML?: (path: string) => MujocoModel;\n    [key: string]: unknown;\n  };\n  MjData: new (model: MujocoModel) => MujocoData;\n  MjvOption: new () => { delete: () => void; [key: string]: unknown };\n  mj_forward: (m: MujocoModel, d: MujocoData) => void;\n  mj_step: (m: MujocoModel, d: MujocoData) => void;\n  mj_resetData: (m: MujocoModel, d: MujocoData) => void;\n  mj_step1: (m: MujocoModel, d: MujocoData) => void;\n  mj_step2: (m: MujocoModel, d: MujocoData) => void;\n  mj_applyFT: (\n    model: MujocoModel,\n    data: MujocoData,\n    force: Float64Array,\n    torque: Float64Array,\n    point: Float64Array,\n    bodyId: number,\n    qfrc_target: Float64Array\n  ) => void;\n  mj_ray: (\n    model: MujocoModel,\n    data: MujocoData,\n    pnt: Float64Array,\n    vec: Float64Array,\n    geomgroup: Uint8Array | null,\n    flg_static: number,\n    bodyexclude: number,\n    geomid: Int32Array\n  ) => number;\n  mj_name2id: (model: MujocoModel, type: number, name: string) => number;\n  mjtObj: Record<string, number>;\n  mjtGeom: Record<string, number | {value: number}>;\n  mjtJoint: Record<string, number | {value: number}>;\n  mjtSensor: Record<string, number | {value: number}>;\n  FS: {\n      writeFile: (path: string, content: string | Uint8Array) => void;\n      readFile: (path: string, opts?: { encoding: string }) => string | Uint8Array;\n      mkdir: (path: string) => void;\n      unmount: (path: string) => void;\n  };\n  [key: string]: unknown;\n}\n\n// ---- Scene Configuration ----\n\nexport interface SceneObject {\n  name: string;\n  /** MuJoCo geom name. Defaults to `${name}_geom` for generated objects. */\n  geomName?: string;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position: [number, number, number];\n  rgba: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n}\n\nexport interface XmlPatch {\n  target: string;\n  inject?: string;\n  injectAfter?: string;\n  replace?: [string, string];\n}\n\nexport type LocalMujocoFile = File;\n\nexport interface LoadFromFilesOptions {\n  /** Entry MJCF/URDF file. Inferred from scene.xml, model.xml, robot.xml, or the first XML/URDF file when omitted. */\n  sceneFile?: string;\n  /** Additional MJCF environment XML files merged into the entry scene before MuJoCo compilation. */\n  environmentFiles?: string[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  sceneObjects?: SceneObject[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\nexport interface SceneConfig {\n  /** Base URL for fetching model files. The loader fetches `src + sceneFile` and follows dependencies. */\n  src: string;\n  /** Entry MJCF XML or URDF file name, e.g. 'scene.xml' or 'robot.urdf'. */\n  sceneFile: string;\n  /** Browser-selected files for local MJCF/URDF loading. Preserves webkitRelativePath when available. */\n  files?: readonly LocalMujocoFile[];\n  /**\n   * Additional MJCF environment XML files merged into the entry scene before compilation.\n   *\n   * Use this for static collision/physics layers such as a Gaussian-splat\n   * environment's proxy `scene.xml`; render the splat itself as a separate\n   * visual layer.\n   */\n  environmentFiles?: string[];\n  sceneObjects?: SceneObject[];\n  homeJoints?: number[];\n  xmlPatches?: XmlPatch[];\n  onReset?: (input: ResetCallbackInput) => void;\n}\n\n// ---- IK Controller Config ----\n\nexport type ResourceSelector<TInfo, TName extends string = string> =\n  | TName\n  | readonly TName[]\n  | RegExp\n  | ((info: TInfo) => boolean);\n\nexport interface IkConfig {\n  /** MuJoCo site name for IK target. */\n  siteName: Sites;\n  /**\n   * Explicit joints for IK. When omitted, the controller infers scalar hinge/slide\n   * joints by walking from the site body to the model root.\n   */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Explicit actuators for IK control output. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n  /**\n   * Number of joints to solve for, assuming legacy contiguous qpos/ctrl layout\n   * starting at index 0. Prefer inferred IK or `joints`/`actuators`.\n   */\n  numJoints?: number;\n  /** Custom IK solver. When omitted, uses built-in Damped Least-Squares solver. */\n  ikSolveFn?: IKSolveFn;\n  /** DLS damping. Default: 0.01. */\n  damping?: number;\n  /** Position error weight for the built-in DLS solver. Default: 1. */\n  posWeight?: number;\n  /** Orientation error weight for the built-in DLS solver. Default: 0.3. */\n  rotWeight?: number;\n  /** Solver convergence tolerance. Default: 1e-3. */\n  tolerance?: number;\n  /** Finite-difference step used by the built-in DLS solver. Default: 1e-6. */\n  epsilon?: number;\n  /** Max solver iterations. Default: 50. */\n  maxIterations?: number;\n}\n\nexport interface IkContextValue {\n  ikEnabledRef: React.RefObject<boolean>;\n  ikCalculatingRef: React.RefObject<boolean>;\n  ikTargetRef: React.RefObject<THREE.Group>;\n  siteIdRef: React.RefObject<number>;\n  setIkEnabled: (enabled: boolean) => void;\n  moveTarget: (pos: THREE.Vector3, duration?: number) => void;\n  syncTargetToSite: () => void;\n  solveIK: (input: IkSolveInput) => number[] | null;\n  getGizmoStats: () => { pos: THREE.Vector3; rot: THREE.Euler } | null;\n}\n\nexport interface SceneMarker {\n  id: number;\n  position: THREE.Vector3;\n  label: string;\n}\n\n// ---- Physics Config (spec 1.1) ----\n\nexport interface PhysicsConfig {\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n}\n\n// ---- IK ----\n\nexport type IKSolveFn = (\n  input: IkSolveInput\n) => number[] | null;\n\nexport interface IkSolveInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n  currentQ: number[];\n  context?: IKSolveContext;\n}\n\nexport interface IKSolveContext {\n  model: MujocoModel;\n  data: MujocoData;\n  siteId: number;\n  controlGroup: ControlGroupInfo;\n}\n\n// ---- Callbacks ----\n\nexport interface PhysicsStepInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface ResetCallbackInput extends PhysicsStepInput {}\n\nexport interface ReadyCallbackInput {\n  api: MujocoSimAPI;\n}\n\nexport interface StepCallbackInput {\n  time: number;\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface SelectionCallbackInput {\n  bodyId: number;\n  name: string;\n}\n\nexport type PhysicsStepCallback = (input: PhysicsStepInput) => void;\n\n// ---- State Management (spec 4.1) ----\n\nexport interface StateSnapshot {\n  time: number;\n  qpos: Float64Array;\n  qvel: Float64Array;\n  ctrl: Float64Array;\n  act: Float64Array;\n  qfrc_applied: Float64Array;\n}\n\n// ---- Model Introspection (spec 5.1) ----\n\nexport interface BodyInfo {\n  id: number;\n  name: string;\n  mass: number;\n  parentId: number;\n}\n\nexport interface JointInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  range: [number, number];\n  limited: boolean;\n  bodyId: number;\n  qposAdr: number;\n  dofAdr: number;\n}\n\nexport interface GeomInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  size: [number, number, number];\n  bodyId: number;\n}\n\nexport interface SiteInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n}\n\nexport interface ActuatorInfo {\n  id: number;\n  name: string;\n  range: [number, number];\n}\n\nexport interface ActuatedJointInfo extends JointInfo {\n  actuatorId: number;\n  actuatorName: string;\n  ctrlAdr: number;\n  ctrlRange: [number, number];\n}\n\nexport interface ControlJointInfo extends JointInfo {\n  actuatorId: number | null;\n  actuatorName: string | null;\n  ctrlAdr: number | null;\n  ctrlRange: [number, number] | null;\n}\n\nexport interface ControlGroupSelector {\n  /** Infer a kinematic chain from a MuJoCo site. */\n  siteName?: Sites;\n  /** Infer a kinematic chain from a body. */\n  bodyName?: Bodies;\n  /** Select joints by name, names, regex, or predicate. */\n  joints?: ResourceSelector<JointInfo, Joints>;\n  /** Select actuators by name, names, regex, or predicate. */\n  actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n}\n\nexport interface ControlGroupInfo {\n  /** Joints in solve/control order. */\n  joints: ControlJointInfo[];\n  /** Actuators in control output order. */\n  actuators: ActuatorInfo[];\n  /** qpos addresses for scalar hinge/slide joints. */\n  qposAdr: number[];\n  /** dof addresses for scalar hinge/slide joints. */\n  dofAdr: number[];\n  /** ctrl addresses matching writable actuators. */\n  ctrlAdr: number[];\n  readQpos(data: MujocoData): Float64Array;\n  readCtrl(data: MujocoData): Float64Array;\n  writeQpos(data: MujocoData, values: ArrayLike<number>): void;\n  writeCtrl(data: MujocoData, values: ArrayLike<number>): void;\n}\n\nexport interface SensorInfo {\n  id: number;\n  name: string;\n  type: number;\n  typeName: string;\n  dim: number;\n  adr: number;\n}\n\nexport interface CameraInfo {\n  id: number;\n  name: string;\n  bodyId: number;\n  fov: number | null;\n  position: [number, number, number] | null;\n  quaternion: [number, number, number, number] | null;\n}\n\n// ---- Contacts (spec 2.4, 2.5) ----\n\nexport interface ContactInfo {\n  geom1: number;\n  geom1Name: string;\n  geom2: number;\n  geom2Name: string;\n  pos: [number, number, number];\n  depth: number;\n}\n\n// ---- Raycast (spec 7.1) ----\n\nexport interface RayHit {\n  point: THREE.Vector3;\n  bodyId: number;\n  geomId: number;\n  distance: number;\n}\n\nexport type ImagePointCoordinateSpace =\n  | 'normalized'\n  | 'normalized-1000'\n  | 'pixel'\n  | 'ndc';\n\nexport interface ImagePointProjectionOptions extends CameraFrameCaptureOptions {\n  /** X coordinate in the selected coordinate space. Defaults to normalized 0..1. */\n  x: number;\n  /** Y coordinate in the selected coordinate space. Defaults to normalized 0..1 with origin at top-left. */\n  y: number;\n  /**\n   * Coordinate convention for x/y:\n   * - normalized: 0..1 image coordinates, top-left origin\n   * - normalized-1000: 0..1000 detector coordinates, top-left origin\n   * - pixel: pixel coordinates, top-left origin\n   * - ndc: Three.js normalized device coordinates, -1..1\n   */\n  coordinateSpace?: ImagePointCoordinateSpace;\n  /** Image width for pixel coordinates. Falls back to `width` or renderer canvas width. */\n  imageWidth?: number;\n  /** Image height for pixel coordinates. Falls back to `height` or renderer canvas height. */\n  imageHeight?: number;\n  /** Ignore hits farther than this distance from the camera ray origin. */\n  maxDistance?: number;\n}\n\nexport interface ImagePointProjectionResult extends RayHit {\n  /** NDC coordinates used for raycasting. */\n  ndc: [number, number];\n  /** Image dimensions used when interpreting pixel coordinates. */\n  imageSize: [number, number];\n  /** Camera pose provenance, matching camera-frame capture results. */\n  source: CameraFrameCaptureSource;\n}\n\n// ---- Model Options (spec 5.3) ----\n\nexport interface ModelOptions {\n  timestep: number;\n  gravity: [number, number, number];\n  integrator: number;\n}\n\n// ---- Trajectory (spec 13.1, 13.2) ----\n\nexport interface TrajectoryFrame {\n  time: number;\n  qpos: Float64Array;\n  qvel?: Float64Array;\n  ctrl?: Float64Array;\n  sensordata?: Float64Array;\n}\n\nexport interface TrajectoryData {\n  frames: TrajectoryFrame[];\n  fps: number;\n}\n\nexport type PlaybackState = 'idle' | 'playing' | 'paused' | 'completed';\n\n// ---- Keyboard Teleop (spec 12.1) ----\n\nexport interface KeyBinding {\n  actuator: Actuators;\n  delta?: number;\n  toggle?: [number, number];\n  set?: number;\n}\n\nexport interface KeyboardTeleopConfig {\n  bindings: Record<string, KeyBinding>;\n  enabled?: boolean;\n}\n\n// ---- Policy (spec 10.1) ----\n\nexport type PolicyVector = Float32Array | Float64Array | number[];\n\nexport interface PolicyObservationInput {\n  model: MujocoModel;\n  data: MujocoData;\n}\n\nexport interface PolicyInferenceInput extends PolicyObservationInput {\n  observation: PolicyVector;\n  /** Number of actions still queued locally when inference is requested. */\n  queuedActions?: number;\n}\n\nexport type PolicyActionChunk = readonly PolicyVector[];\nexport type PolicyInferenceOutput = PolicyVector | PolicyActionChunk;\nexport type PolicyInferenceResult = PolicyInferenceOutput | Promise<PolicyInferenceOutput>;\n\nexport interface PolicyActionInput extends PolicyInferenceInput {\n  action: PolicyVector;\n}\n\nexport interface PolicyAPI {\n  readonly isRunning: boolean;\n  start: () => void;\n  stop: () => void;\n  clearQueue: () => void;\n  reset: () => void;\n  readonly inFlight: boolean;\n  readonly queuedActions: number;\n  readonly lastObservation: PolicyVector | null;\n  readonly lastAction: PolicyVector | null;\n  readonly lastError: unknown;\n}\n\nexport interface PolicyConfig {\n  frequency: number;\n  enabled?: boolean;\n  /** Start async inference while this many queued actions remain. Defaults to 0. */\n  prefetchThreshold?: number;\n  /**\n   * How async action chunks update the queue.\n   * - append preserves legacy FIFO behavior.\n   * - replace is useful for receding-horizon policies where a fresh chunk should supersede stale queued actions.\n   */\n  queueStrategy?: 'append' | 'replace';\n  /**\n   * Clear queued actions and ignore in-flight async results when `stop()` is called.\n   * Defaults to false so callers can choose pause/resume behavior explicitly.\n   */\n  clearQueueOnStop?: boolean;\n  onObservation: (input: PolicyObservationInput) => PolicyVector;\n  /** Run policy inference. Omit to pass observations directly to `onAction` for custom inline controllers. */\n  infer?: (input: PolicyInferenceInput) => PolicyInferenceResult;\n  onAction: (input: PolicyActionInput) => void;\n  /** Called when async inference rejects. */\n  onError?: (error: unknown) => void;\n}\n\nexport interface RemotePolicyRequestInput extends PolicyInferenceInput {\n  /** True for the first request after hook construction or `reset()`. */\n  reset: boolean;\n  /** Zero-based request index since construction or `reset()`. */\n  requestIndex: number;\n  /** Aborts when the request is no longer needed, e.g. after pause/reset. */\n  signal: AbortSignal;\n}\n\nexport interface RemotePolicyRequestInfo extends RemotePolicyRequestInput {\n  body: unknown;\n  requestStartedAt: number;\n}\n\nexport interface RemotePolicyResponseInfo extends RemotePolicyRequestInfo {\n  response: Response;\n  responseBody: unknown;\n  responseFinishedAt: number;\n  requestMs: number;\n}\n\nexport type RemotePolicyStatus = 'idle' | 'requesting' | 'ready' | 'error' | 'aborted';\n\nexport interface RemotePolicyConfig extends Omit<PolicyConfig, 'infer'> {\n  endpoint: string | URL;\n  method?: string;\n  headers?: HeadersInit;\n  credentials?: RequestCredentials;\n  /** Additional external cancellation signal for remote inference requests. */\n  signal?: AbortSignal;\n  /**\n   * Abort the active HTTP request when `stop()` or `reset()` is called.\n   * Defaults to true so paused policies stop consuming server work.\n   */\n  abortOnStop?: boolean;\n  fetcher?: typeof fetch;\n  requestInit?: Omit<RequestInit, 'body' | 'headers' | 'method' | 'credentials' | 'signal'>;\n  buildRequest?: (input: RemotePolicyRequestInput) => unknown | Promise<unknown>;\n  readResponse?: (response: Response) => unknown | Promise<unknown>;\n  parseResponse?: (\n    responseBody: unknown,\n    info: RemotePolicyResponseInfo\n  ) => PolicyInferenceResult;\n  onRequest?: (info: RemotePolicyRequestInfo) => void;\n  onResponse?: (info: RemotePolicyResponseInfo) => void;\n}\n\nexport interface RemotePolicyAPI extends PolicyAPI {\n  abort: (reason?: unknown) => void;\n  readonly remoteStatus: RemotePolicyStatus;\n  readonly requestCount: number;\n  readonly responseCount: number;\n  readonly lastRequestBody: unknown;\n  readonly lastResponseBody: unknown;\n  readonly lastHttpStatus: number | null;\n  readonly lastRequestMs: number | null;\n}\n\nexport interface PolicyCameraFrameStream extends CameraFrameCaptureOptions {\n  /** Image key used in policy payloads, e.g. `image`, `front`, or `wrist_cam`. */\n  key: string;\n  /** Additional payload keys that should receive the same data URL. */\n  aliases?: readonly string[];\n}\n\nexport interface PolicyCameraFrameCaptureOptions {\n  streams: readonly PolicyCameraFrameStream[];\n  /**\n   * Include `observation.images.${key}` for every captured stream.\n   * Defaults to true because LeRobot-style policies usually use these names.\n   */\n  includeObservationImageAliases?: boolean;\n}\n\nexport interface PolicyCameraFrameCaptureResult {\n  frames: Record<string, CameraFrameCaptureResult>;\n  images: Record<string, string>;\n  /** Human-readable source summary for UI/debug telemetry. */\n  sourceSummary: string;\n  capturedAt: number;\n}\n\nexport interface PolicyCameraFrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (\n    options?: Partial<PolicyCameraFrameCaptureOptions>\n  ) => Promise<PolicyCameraFrameCaptureResult>;\n  reset: () => void;\n}\n\n// ---- Observation Builder ----\n\nexport type ObservationOutput = 'float32' | 'float64';\n\nexport interface ObservationConfig {\n  /** Include scalar simulation time. */\n  time?: boolean;\n  /** Include all qpos values. */\n  qpos?: boolean;\n  /** Include all qvel values. */\n  qvel?: boolean;\n  /** Include all ctrl values. */\n  ctrl?: boolean;\n  /** Include all actuator activation values. */\n  act?: boolean;\n  /** Include all raw sensordata values. */\n  sensordata?: boolean;\n  /** Include named sensor values in the configured order. */\n  sensors?: readonly Sensors[];\n  /** Include named site world positions in the configured order. */\n  sites?: readonly Sites[];\n  /** Include world gravity projected into each named body's local frame. */\n  projectedGravity?: Bodies | readonly Bodies[];\n  /** Output array type. Defaults to Float32Array. */\n  output?: ObservationOutput;\n}\n\nexport interface ObservationLayoutItem {\n  name: string;\n  start: number;\n  size: number;\n}\n\nexport interface ObservationResult {\n  values: Float32Array | Float64Array;\n  layout: ObservationLayoutItem[];\n}\n\nexport interface ObservationHandle {\n  /** Read a fresh observation from the current live MuJoCo model/data refs. */\n  read(): ObservationResult;\n  /** Read just the vector values for policy inference. */\n  readValues(): Float32Array | Float64Array;\n}\n\n// ---- Debug Component (spec 6.1) ----\n\nexport interface DebugProps {\n  showGeoms?: boolean;\n  showSites?: boolean;\n  showJoints?: boolean;\n  showCameras?: boolean;\n  showContacts?: boolean;\n  showCOM?: boolean;\n  showInertia?: boolean;\n  showTendons?: boolean;\n}\n\n// ---- Component Props ----\n\nexport interface IkGizmoProps {\n  controller: IkContextValue;\n  siteName?: string;\n  scale?: number;\n  onDrag?: (input: IkGizmoDragInput) => void;\n}\n\nexport interface IkGizmoDragInput {\n  position: THREE.Vector3;\n  quaternion: THREE.Quaternion;\n}\n\nexport type KeyboardIkTargetAction =\n  | 'x+'\n  | 'x-'\n  | 'y+'\n  | 'y-'\n  | 'z+'\n  | 'z-'\n  | 'pitch+'\n  | 'pitch-'\n  | 'yaw+'\n  | 'yaw-'\n  | 'roll+'\n  | 'roll-';\n\nexport interface KeyboardIkTargetBinding {\n  /** KeyboardEvent.code, e.g. `KeyW`, `ArrowUp`, `Space`. */\n  code: string;\n  action: KeyboardIkTargetAction;\n  /** Override translation speed in meters/second for this binding. */\n  translateSpeed?: number;\n  /** Override rotation speed in radians/second for this binding. */\n  rotateSpeed?: number;\n}\n\nexport interface KeyboardIkTargetConfig {\n  controller: IkContextValue | null;\n  bindings: KeyboardIkTargetBinding[];\n  enabled?: boolean;\n  /** Default translation speed in meters/second. Default: 0.25. */\n  translateSpeed?: number;\n  /** Default rotation speed in radians/second. Default: 1.0. */\n  rotateSpeed?: number;\n  /** Apply translation and rotation axes in world or current target space. Default: `world`. */\n  frame?: 'world' | 'target';\n  /** Enable IK while keys are active. Default: true. */\n  autoEnableIk?: boolean;\n  /** Sync target to current site when keyboard control starts. Default: true. */\n  syncOnStart?: boolean;\n  /** Prevent browser default behavior for bound keys. Default: true. */\n  preventDefault?: boolean;\n}\n\nexport interface DragInteractionProps {\n  stiffness?: number;\n  showArrow?: boolean;\n}\n\nexport interface SceneLightsProps {\n  /** Override intensity for all MJCF lights. Default: 1.0. */\n  intensity?: number;\n}\n\n// ---- Visual scenarios / 3DGS composition ----\n\nexport type ScenarioLightingPreset = 'studio' | 'warehouse' | 'low-light' | 'splat';\nexport type SplatFormat = 'spz' | 'ply' | 'splat';\nexport type SplatRendererKind = 'spark' | 'custom';\nexport type SplatCollisionPrimitive = 'plane' | 'box' | 'sphere' | 'capsule' | 'mesh';\n\nexport interface ScenarioCameraConfig {\n  jitter?: number;\n  exposure?: number;\n  noise?: number;\n  blur?: number;\n}\n\nexport interface ScenarioMaterialConfig {\n  randomizeObjectColors?: boolean;\n  randomizeTableMaterial?: boolean;\n  roughness?: number;\n  metalness?: number;\n}\n\nexport interface SplatAssetConfig {\n  src: string;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  /** Optional renderer hint. The library does not import renderer-specific code. */\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatScenarioConfig {\n  enabled: boolean;\n  /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n  format?: SplatFormat;\n  src?: string;\n  requiresCollisionProxy?: boolean;\n  collisionProxy?: SplatCollisionProxyConfig | null;\n}\n\nexport interface SplatCollisionProxyConfig {\n  /** MJCF/XML file or artifact path that provides physics collision for the visual splat. */\n  xmlPath?: string;\n  /** Human-readable status for authoring and validation flows. */\n  status?: 'missing' | 'planned' | 'generated' | 'validated';\n  /** Primitive proxy shapes expected in the MJCF collision proxy. */\n  primitives?: SplatCollisionPrimitive[];\n  /** Optional notes that should travel with scene variants and rollout metadata. */\n  notes?: string[];\n}\n\nexport interface PairedSplatEnvironmentConfig {\n  id: string;\n  label: string;\n  description?: string;\n  /** Visual-only Gaussian splat asset. */\n  splat: SplatAssetConfig;\n  /** Optional MJCF/XML contact geometry paired with the visual splat. */\n  collisionProxy?: SplatCollisionProxyConfig & { xmlPath: string };\n}\n\nexport const SplatEnvironmentReadinessStatus = {\n  Disabled: 'disabled',\n  MissingSplat: 'missing-splat',\n  MissingCollisionProxy: 'missing-collision-proxy',\n  UnsupportedFormat: 'unsupported-format',\n  Ready: 'ready',\n} as const;\n\nexport type SplatEnvironmentReadinessStatus =\n  (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];\n\nexport interface SplatEnvironmentReadiness {\n  status: SplatEnvironmentReadinessStatus;\n  ready: boolean;\n  requiresCollisionProxy: boolean;\n  missing: Array<'splat' | 'collisionProxy'>;\n  format?: SplatFormat;\n  renderer?: SplatRendererKind;\n  message: string;\n}\n\nexport interface SplatEnvironmentMetadataInput {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n}\n\nexport interface SplatEnvironmentMetadata {\n  src?: string;\n  format: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness: SplatEnvironmentReadiness;\n  userData: Record<string, unknown>;\n}\n\nexport interface ResolvedScenarioCameraConfig {\n  jitter: number;\n  exposure: number;\n  noise: number;\n  blur: number;\n}\n\nexport interface ResolvedScenarioMaterialConfig {\n  randomizeObjectColors: boolean;\n  randomizeTableMaterial: boolean;\n  roughness?: number;\n  metalness?: number;\n}\n\nexport interface VisualScenarioExecutionContext {\n  scenarioId: string;\n  scenarioLabel: string;\n  variantId?: string;\n  seed: number;\n  lighting: ScenarioLightingPreset;\n  environment?: string;\n  camera: ResolvedScenarioCameraConfig;\n  materials: ResolvedScenarioMaterialConfig;\n  splatEnabled: boolean;\n  splatSrc?: string;\n  splatFormat: SplatFormat;\n  splatRenderer?: SplatRendererKind;\n  collisionProxyXmlPath?: string;\n  collisionProxyStatus?: SplatCollisionProxyConfig['status'];\n  collisionProxyPrimitives: SplatCollisionPrimitive[];\n  readiness: SplatEnvironmentReadiness;\n  transformSource: 'visualScenario.camera';\n}\n\nexport interface VisualScenarioExecutionContextInput {\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  renderer?: SplatRendererKind;\n  variantId?: string;\n  enabled?: boolean;\n}\n\nexport type SplatSceneInput =\n  | PairedSplatEnvironmentConfig\n  | VisualScenarioConfig\n  | undefined\n  | null;\n\nexport interface SplatSceneConfigInput {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: SplatRendererKind;\n}\n\nexport interface SplatSceneConfigState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  enabled: boolean;\n  readiness: SplatEnvironmentReadiness;\n}\n\nexport interface VisualScenarioConfig {\n  id?: string;\n  label?: string;\n  seed?: number;\n  lighting?: ScenarioLightingPreset;\n  environment?: string;\n  camera?: ScenarioCameraConfig;\n  materials?: ScenarioMaterialConfig;\n  splat?: SplatScenarioConfig | null;\n}\n\nexport interface ScenarioLightingProps {\n  preset?: ScenarioLightingPreset;\n  intensity?: number;\n  castShadow?: boolean;\n}\n\nexport interface SplatEnvironmentProps extends Omit<ThreeElements['group'], 'ref'> {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: VisualScenarioConfig;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: ReactNode;\n  collisionProxyMetadata?: SplatCollisionProxyConfig;\n  showPlaceholder?: boolean;\n}\n\nexport interface VisualScenarioEffectsProps {\n  scenario?: VisualScenarioConfig;\n  enabled?: boolean;\n  applyBackground?: boolean;\n  applyFog?: boolean;\n  applyRenderer?: boolean;\n  applyMaterials?: boolean;\n  background?: THREE.ColorRepresentation;\n  fogNear?: number;\n  fogFar?: number;\n  materialFilter?: (input: VisualScenarioMaterialFilterInput) => boolean;\n}\n\nexport interface VisualScenarioMaterialFilterInput {\n  object: THREE.Object3D;\n  material: THREE.Material;\n}\n\nexport type TrajectoryInput = TrajectoryFrame[] | number[][];\n\nexport interface TrajectoryPlayerProps {\n  trajectory: TrajectoryInput;\n  fps?: number;\n  speed?: number;\n  loop?: boolean;\n  playing?: boolean;\n  mode?: 'kinematic' | 'physics';\n  onFrame?: (input: TrajectoryFrameCallbackInput) => void;\n  onComplete?: () => void;\n  onStateChange?: (input: TrajectoryStateChangeInput) => void;\n}\n\nexport interface TrajectoryFrameCallbackInput {\n  frameIndex: number;\n  frame: TrajectoryFrame | number[] | undefined;\n}\n\nexport interface TrajectoryStateChangeInput {\n  state: PlaybackState;\n}\n\nexport interface SelectionHighlightProps {\n  bodyId: number | null;\n  color?: string;\n  emissiveIntensity?: number;\n}\n\nexport interface ContactListenerProps {\n  body: Bodies;\n  onContactEnter?: (info: ContactInfo) => void;\n  onContactExit?: (info: ContactInfo) => void;\n}\n\nexport interface BodyProps {\n  name: Bodies;\n  type: 'box' | 'sphere' | 'cylinder';\n  size: [number, number, number];\n  position?: [number, number, number];\n  rgba?: [number, number, number, number];\n  mass?: number;\n  freejoint?: boolean;\n  friction?: string;\n  solref?: string;\n  solimp?: string;\n  condim?: number;\n  /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n  group?: number;\n  children?: ReactNode;\n}\n\n// ---- Public API (spec: full surface) ----\n\nexport interface MujocoSimAPI {\n  // State\n  readonly status: 'loading' | 'ready' | 'error';\n  readonly config: SceneConfig;\n\n  // Simulation control (spec 1.1, 1.2, 1.3)\n  reset(): void;\n  setSpeed(multiplier: number): void;\n  togglePause(): boolean;\n  setPaused(paused: boolean): void;\n  step(n?: number): void;\n  getTime(): number;\n  getTimestep(): number;\n  applyKeyframe(nameOrIndex: Keyframes | number): void;\n\n  // State management (spec 4.1, 4.2, 4.3)\n  saveState(): StateSnapshot;\n  restoreState(snapshot: StateSnapshot): void;\n  setQpos(values: Float64Array | number[]): void;\n  setQvel(values: Float64Array | number[]): void;\n  getQpos(): Float64Array;\n  getQvel(): Float64Array;\n\n  // Actuator / control (spec 3.1)\n  setCtrl(nameOrValues: Actuators | Record<Actuators, number>, value?: number): void;\n  getCtrl(): Float64Array;\n  getControlMap(): ControlGroupInfo;\n  getActuatedJoints(): ActuatedJointInfo[];\n  resolveControlGroup(selector: ControlGroupSelector): ControlGroupInfo | null;\n\n  // Force application (spec 8.1)\n  applyForce(bodyName: Bodies, force: THREE.Vector3, point?: THREE.Vector3): void;\n  applyTorque(bodyName: Bodies, torque: THREE.Vector3): void;\n  setExternalForce(bodyName: Bodies, force: THREE.Vector3, torque: THREE.Vector3): void;\n  applyGeneralizedForce(values: Float64Array | number[]): void;\n\n  // Sensors (spec 2.1)\n  getSensorData(name: Sensors): Float64Array | null;\n\n  // Contacts (spec 2.4)\n  getContacts(): ContactInfo[];\n\n  // Model introspection (spec 5.1, 5.2)\n  getBodies(): BodyInfo[];\n  getJoints(): JointInfo[];\n  getGeoms(): GeomInfo[];\n  getSites(): SiteInfo[];\n  getActuators(): ActuatorInfo[];\n  getSensors(): SensorInfo[];\n  getCameras(): CameraInfo[];\n\n  // Model parameters (spec 5.3)\n  getModelOption(): ModelOptions;\n  setGravity(g: [number, number, number]): void;\n  setTimestep(dt: number): void;\n\n  // Raycasting (spec 7.1)\n  raycast(origin: THREE.Vector3, direction: THREE.Vector3, maxDist?: number): RayHit | null;\n\n  // Keyframes (spec 4.2)\n  getKeyframeNames(): string[];\n  getKeyframeCount(): number;\n\n  // Model loading (spec 9.1)\n  loadScene(newConfig: SceneConfig): Promise<void>;\n  loadFromFiles(files: FileList | readonly LocalMujocoFile[], options?: LoadFromFilesOptions): Promise<void>;\n  addBody(body: SceneObject): Promise<void>;\n  removeBody(name: Bodies): Promise<void>;\n  recompile(patches?: XmlPatch[]): Promise<void>;\n\n  // Canvas\n  getCanvas(): HTMLCanvasElement | null;\n  getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;\n  captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;\n  captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;\n  captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;\n  captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n  recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;\n  project2DTo3D(\n    x: number,\n    y: number,\n    cameraPos: THREE.Vector3,\n    lookAt: THREE.Vector3\n  ): { point: THREE.Vector3; bodyId: number; geomId: number } | null;\n  projectImagePointTo3D(options: ImagePointProjectionOptions): ImagePointProjectionResult | null;\n\n  // Domain randomization (spec 10.3)\n  setBodyMass(name: Bodies, mass: number): void;\n  setGeomFriction(name: Geoms, friction: [number, number, number]): void;\n  setGeomSize(name: Geoms, size: [number, number, number]): void;\n\n  // Internal refs for advanced use\n  readonly mjModelRef: React.RefObject<MujocoModel | null>;\n  readonly mjDataRef: React.RefObject<MujocoData | null>;\n}\n\nexport type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';\n\nexport type FrameCaptureTarget =\n  | HTMLCanvasElement\n  | HTMLElement\n  | null\n  | undefined;\n\nexport type FrameCaptureTargetRef =\n  React.RefObject<HTMLCanvasElement | HTMLElement | null>;\n\nexport interface FrameCaptureOptions {\n  target?: FrameCaptureTarget | FrameCaptureTargetRef;\n  type?: string;\n  quality?: number;\n  waitForAnimationFrame?: boolean;\n}\n\nexport type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;\n\nexport interface FrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  dataUrl: string;\n  type: string;\n}\n\nexport interface FrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  blob: Blob;\n  type: string;\n}\n\nexport interface FrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;\n  captureBlob: (\n    options?: FrameCaptureOptions\n  ) => Promise<FrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport type CameraFrameCaptureVector3 =\n  | THREE.Vector3\n  | readonly [number, number, number];\n\nexport type CameraFrameCaptureQuaternion =\n  | THREE.Quaternion\n  | readonly [number, number, number, number];\n\nexport interface CameraFrameCaptureOptions {\n  /** Existing Three camera to clone before applying pose overrides. */\n  camera?: THREE.Camera;\n  /** Named MuJoCo `<camera>` to render from when available in the loaded model. */\n  cameraName?: Cameras;\n  /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */\n  siteName?: Sites;\n  /** Named MuJoCo body to use as the rendered camera pose. */\n  bodyName?: Bodies;\n  position?: CameraFrameCaptureVector3;\n  lookAt?: CameraFrameCaptureVector3;\n  quaternion?: CameraFrameCaptureQuaternion;\n  up?: CameraFrameCaptureVector3;\n  /** Local-space offset applied after resolving a mounted MuJoCo camera/site/body pose. */\n  positionOffset?: CameraFrameCaptureVector3;\n  /** Local-space rotation applied after resolving a mounted MuJoCo camera/site/body pose. Array values use Three.js order: [x, y, z, w]. */\n  quaternionOffset?: CameraFrameCaptureQuaternion;\n  width?: number;\n  height?: number;\n  type?: string;\n  quality?: number;\n  fov?: number;\n  near?: number;\n  far?: number;\n  /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n  source?: CameraFrameCaptureSource;\n  /** Hide rendered Three objects whose MuJoCo geom group is in this list. */\n  hiddenGeomGroups?: readonly number[];\n  /** When provided, only rendered Three objects whose MuJoCo geom group is in this list are visible. */\n  visibleGeomGroups?: readonly number[];\n  /** Hide rendered Three objects whose MuJoCo geom name is in this list. */\n  hiddenGeomNames?: readonly string[];\n  /** Optional clear color for this capture only. Defaults to the renderer's current clear color. */\n  background?: THREE.ColorRepresentation;\n  /** Optional clear alpha for this capture only. Defaults to the renderer's current clear alpha. */\n  backgroundAlpha?: number;\n  /** Mirror the captured image horizontally after rendering. Useful when matching policy datasets with mirrored camera frames. */\n  flipX?: boolean;\n}\n\nexport type CameraFrameCaptureSource =\n  | { kind: 'mujoco-camera'; cameraName: Cameras }\n  | { kind: 'mujoco-site'; siteName: Sites }\n  | { kind: 'mujoco-body'; bodyName: Bodies }\n  | { kind: 'custom-camera' }\n  | { kind: 'explicit-pose' }\n  | { kind: 'fallback-camera' };\n\nexport interface CameraFrameCaptureResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  dataUrl: string;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureBlobResult {\n  canvas: HTMLCanvasElement;\n  camera: THREE.Camera;\n  blob: Blob;\n  type: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isCapturing: boolean;\n  capture: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureResult>;\n  captureBlob: (\n    options?: CameraFrameCaptureOptions\n  ) => Promise<CameraFrameCaptureBlobResult>;\n  reset: () => void;\n}\n\nexport interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {\n  key: string;\n}\n\nexport interface CameraFrameSequenceFrame {\n  frameIndex: number;\n  time: number;\n  cameras: Record<string, CameraFrameCaptureResult>;\n}\n\nexport interface CameraFrameSequenceCameraSummary {\n  key: string;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n  frameCount: number;\n  firstFrameIndex: number | null;\n  lastFrameIndex: number | null;\n  firstTimestamp: number | null;\n  lastTimestamp: number | null;\n}\n\nexport interface CameraFrameSequenceSampleInput extends PhysicsStepInput {\n  frameIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceStepInput extends PhysicsStepInput {\n  frameIndex: number;\n  stepIndex: number;\n  time: number;\n}\n\nexport interface CameraFrameSequenceOptions {\n  cameras: readonly CameraFrameSequenceCamera[];\n  frames: number;\n  /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */\n  stepsPerFrame?: number;\n  reset?: boolean;\n  captureInitialFrame?: boolean;\n  retainFrames?: boolean;\n  /**\n   * Require each recorded stream to resolve from exactly one mounted MuJoCo\n   * camera/site/body selector. Defaults to true because sequence recording is\n   * intended for dataset/policy camera streams.\n   */\n  requireMountedSources?: boolean;\n  signal?: AbortSignal;\n  /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */\n  onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;\n  /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */\n  onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */\n  onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n  onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;\n}\n\nexport interface CameraFrameSequenceResult {\n  frames: CameraFrameSequenceFrame[];\n  cameraKeys: string[];\n  cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;\n  frameCount: number;\n}\n\nexport interface CameraFrameSequenceRecorderAPI {\n  status: FrameCaptureStatus;\n  error: Error | null;\n  isRecording: boolean;\n  record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;\n  reset: () => void;\n}\n\n// ---- Canvas Props ----\n\nexport type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {\n  config: SceneConfig;\n  /** R3F content rendered while the MuJoCo WASM module is still loading. */\n  loadingFallback?: ReactNode;\n  onReady?: (input: ReadyCallbackInput) => void;\n  onError?: (error: Error) => void;\n  onStep?: (input: StepCallbackInput) => void;\n  onSelection?: (input: SelectionCallbackInput) => void;\n  // Declarative physics config (spec 1.1)\n  gravity?: [number, number, number];\n  timestep?: number;\n  substeps?: number;\n  paused?: boolean;\n  speed?: number;\n  interpolate?: boolean;\n};\n\n// ---- Hook Return Types ----\n\nexport interface SitePositionResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n}\n\nexport interface MujocoContextValue {\n  mujoco: MujocoModule | null;\n  status: 'loading' | 'ready' | 'error';\n  error: string | null;\n}\n\n/** @deprecated Use `SensorHandle` instead. */\nexport interface SensorResult {\n  value: React.RefObject<Float64Array>;\n  size: number;\n}\n\nexport interface CtrlHandle {\n  /** Read the current ctrl value. */\n  read(): number;\n  /** Write a ctrl value (goes directly to data.ctrl). */\n  write(value: number): void;\n  /** Actuator name. */\n  name: Actuators;\n  /** Actuator control range [min, max]. */\n  range: [number, number];\n}\n\nexport interface SensorHandle {\n  /** Read the current sensor data. */\n  read(): Float64Array;\n  /** Sensor dimensionality. */\n  dim: number;\n  /** Sensor name. */\n  name: Sensors;\n}\n\nexport interface BodyStateResult {\n  position: React.RefObject<THREE.Vector3>;\n  quaternion: React.RefObject<THREE.Quaternion>;\n  linearVelocity: React.RefObject<THREE.Vector3>;\n  angularVelocity: React.RefObject<THREE.Vector3>;\n}\n\nexport type JointStateKind = 'auto' | 'scalar' | 'array';\n\nexport interface JointStateOptions {\n  /**\n   * Expected joint value shape.\n   *\n   * - `auto`: scalar joints return numbers, ball/free joints return Float64Array.\n   * - `scalar`: return numeric refs for hinge/slide joints.\n   * - `array`: return Float64Array refs for ball/free joints.\n   */\n  kind?: JointStateKind;\n}\n\nexport interface JointStateResult {\n  position: React.RefObject<number | Float64Array>;\n  velocity: React.RefObject<number | Float64Array>;\n}\n\nexport interface ScalarJointStateResult {\n  position: React.RefObject<number>;\n  velocity: React.RefObject<number>;\n}\n\nexport interface ArrayJointStateResult {\n  position: React.RefObject<Float64Array>;\n  velocity: React.RefObject<Float64Array>;\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n *\n * Offscreen camera-frame capture for R3F/MuJoCo scenes.\n */\n\nimport * as THREE from 'three';\nimport type {\n  CameraFrameCaptureBlobResult,\n  CameraFrameCaptureOptions,\n  CameraFrameCaptureResult,\n  CameraFrameCaptureSource,\n  CameraFrameCaptureVector3,\n} from '../types';\n\nexport interface CameraFrameCaptureSession {\n  readonly width: number;\n  readonly height: number;\n  capture(options?: CameraFrameCaptureOptions): {\n    canvas: HTMLCanvasElement;\n    camera: THREE.Camera;\n    width: number;\n    height: number;\n    source: CameraFrameCaptureSource;\n  };\n  captureAsync(options?: CameraFrameCaptureOptions): Promise<{\n    canvas: HTMLCanvasElement;\n    camera: THREE.Camera;\n    width: number;\n    height: number;\n    source: CameraFrameCaptureSource;\n  }>;\n  captureDataUrl(options?: CameraFrameCaptureOptions): CameraFrameCaptureResult;\n  captureDataUrlAsync(\n    options?: CameraFrameCaptureOptions\n  ): Promise<CameraFrameCaptureResult>;\n  captureBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n  dispose(): void;\n}\n\nexport const CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY =\n  'mujocoReactCameraFrameCaptureRender';\nexport const CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY =\n  'mujocoReactCameraFrameCapturePreRender';\nexport const CAPTURE_EXCLUDE_KEY =\n  'mujoco.capture.exclude';\n\nexport type CameraFrameCaptureRenderInput = {\n  renderer: THREE.WebGLRenderer;\n  scene: THREE.Scene;\n  camera: THREE.Camera;\n  target: THREE.WebGLRenderTarget;\n  width: number;\n  height: number;\n};\n\nexport type CameraFrameCaptureRenderResult = {\n  pixels: Uint8Array;\n  width?: number;\n  height?: number;\n  flipY?: boolean;\n  flipX?: boolean;\n};\n\ntype CameraFrameCaptureRender = (\n  input: CameraFrameCaptureRenderInput\n) =>\n  | CameraFrameCaptureRenderResult\n  | null\n  | undefined\n  | Promise<CameraFrameCaptureRenderResult | null | undefined>;\n\ntype RendererState = {\n  target: THREE.WebGLRenderTarget | null;\n  xrEnabled: boolean;\n  viewport: THREE.Vector4;\n  scissor: THREE.Vector4;\n  scissorTest: boolean;\n  clearColor: THREE.Color;\n  clearAlpha: number;\n  autoClear: boolean;\n};\n\ntype VisibilityState = {\n  object: THREE.Object3D;\n  visible: boolean;\n};\n\ntype CameraFrameCapturePreRender = () => void;\n\nfunction toVector3(\n  value: CameraFrameCaptureVector3 | undefined,\n  fallback: THREE.Vector3\n): THREE.Vector3 {\n  if (!value) return fallback.clone();\n  return value instanceof THREE.Vector3\n    ? value.clone()\n    : new THREE.Vector3(value[0], value[1], value[2]);\n}\n\nfunction applyCameraPose(\n  camera: THREE.Camera,\n  options: CameraFrameCaptureOptions,\n  fallbackCamera: THREE.Camera\n) {\n  camera.position.copy(toVector3(options.position, fallbackCamera.position));\n  camera.up.copy(toVector3(options.up, fallbackCamera.up));\n\n  if (options.quaternion) {\n    if (options.quaternion instanceof THREE.Quaternion) {\n      camera.quaternion.copy(options.quaternion);\n    } else {\n      camera.quaternion.set(\n        options.quaternion[0],\n        options.quaternion[1],\n        options.quaternion[2],\n        options.quaternion[3]\n      );\n    }\n  } else if (options.lookAt) {\n    camera.lookAt(toVector3(options.lookAt, new THREE.Vector3()));\n  } else {\n    camera.quaternion.copy(fallbackCamera.quaternion);\n  }\n\n  camera.updateMatrixWorld();\n}\n\nfunction createCaptureCamera(\n  options: CameraFrameCaptureOptions,\n  fallbackCamera: THREE.Camera,\n  width: number,\n  height: number\n): THREE.Camera {\n  const camera = options.camera\n    ? options.camera.clone()\n    : fallbackCamera instanceof THREE.PerspectiveCamera\n      ? fallbackCamera.clone()\n      : new THREE.PerspectiveCamera(45, width / height, 0.01, 100);\n\n  if (camera instanceof THREE.PerspectiveCamera) {\n    camera.aspect = width / height;\n    camera.fov = options.fov ?? camera.fov;\n    camera.near = options.near ?? camera.near;\n    camera.far = options.far ?? camera.far;\n    camera.updateProjectionMatrix();\n  }\n\n  applyCameraPose(camera, options, fallbackCamera);\n  return camera;\n}\n\nfunction getCaptureDimensions(\n  renderer: THREE.WebGLRenderer,\n  options: CameraFrameCaptureOptions\n) {\n  const width = Math.max(\n    1,\n    Math.floor(options.width ?? renderer.domElement.width)\n  );\n  const height = Math.max(\n    1,\n    Math.floor(options.height ?? renderer.domElement.height)\n  );\n  return { width, height };\n}\n\nfunction prepareCaptureCamera(\n  camera: THREE.Camera,\n  options: CameraFrameCaptureOptions,\n  fallbackCamera: THREE.Camera,\n  width: number,\n  height: number\n) {\n  if (options.camera) {\n    camera.copy(options.camera);\n  }\n\n  if (camera instanceof THREE.PerspectiveCamera) {\n    camera.aspect = width / height;\n    camera.fov = options.fov ?? camera.fov;\n    camera.near = options.near ?? camera.near;\n    camera.far = options.far ?? camera.far;\n    camera.updateProjectionMatrix();\n  }\n\n  applyCameraPose(camera, options, fallbackCamera);\n}\n\nfunction readRenderTargetToCanvas(\n  renderer: THREE.WebGLRenderer,\n  target: THREE.WebGLRenderTarget,\n  canvas: HTMLCanvasElement,\n  context: CanvasRenderingContext2D,\n  pixels: Uint8Array,\n  imageData: ImageData,\n  width: number,\n  height: number,\n  outputColorSpace: string,\n  flipX = false\n) {\n  renderer.readRenderTargetPixels(target, 0, 0, width, height, pixels);\n\n  const rowBytes = width * 4;\n  const encodeSrgb = outputColorSpace === THREE.SRGBColorSpace;\n  for (let y = 0; y < height; y += 1) {\n    const sourceStart = (height - y - 1) * rowBytes;\n    const targetStart = y * rowBytes;\n    const row = pixels.subarray(sourceStart, sourceStart + rowBytes);\n    if (!encodeSrgb && !flipX) {\n      imageData.data.set(row, targetStart);\n      continue;\n    }\n\n    for (let x = 0; x < width; x += 1) {\n      const sourceX = flipX ? width - x - 1 : x;\n      const sourceOffset = sourceX * 4;\n      const targetOffset = targetStart + x * 4;\n      imageData.data[targetOffset] = encodeSrgb\n        ? linearByteToSrgbByte(row[sourceOffset])\n        : row[sourceOffset];\n      imageData.data[targetOffset + 1] = encodeSrgb\n        ? linearByteToSrgbByte(row[sourceOffset + 1])\n        : row[sourceOffset + 1];\n      imageData.data[targetOffset + 2] = encodeSrgb\n        ? linearByteToSrgbByte(row[sourceOffset + 2])\n        : row[sourceOffset + 2];\n      imageData.data[targetOffset + 3] = row[sourceOffset + 3];\n    }\n  }\n  context.putImageData(imageData, 0, 0);\n  return canvas;\n}\n\nfunction linearByteToSrgbByte(value: number) {\n  const normalized = value / 255;\n  const encoded =\n    normalized <= 0.0031308\n      ? normalized * 12.92\n      : 1.055 * Math.pow(normalized, 1 / 2.4) - 0.055;\n  return Math.min(255, Math.max(0, Math.round(encoded * 255)));\n}\n\nfunction readPixelsToCanvas(\n  pixels: Uint8Array,\n  context: CanvasRenderingContext2D,\n  imageData: ImageData,\n  width: number,\n  height: number,\n  flipY = true,\n  flipX = false\n) {\n  const rowBytes = width * 4;\n  for (let y = 0; y < height; y += 1) {\n    const sourceY = flipY ? height - y - 1 : y;\n    const sourceStart = sourceY * rowBytes;\n    const targetStart = y * rowBytes;\n    if (!flipX) {\n      imageData.data.set(\n        pixels.subarray(sourceStart, sourceStart + rowBytes),\n        targetStart\n      );\n      continue;\n    }\n    for (let x = 0; x < width; x += 1) {\n      const sourceX = width - x - 1;\n      const sourceOffset = sourceStart + sourceX * 4;\n      const targetOffset = targetStart + x * 4;\n      imageData.data[targetOffset] = pixels[sourceOffset];\n      imageData.data[targetOffset + 1] = pixels[sourceOffset + 1];\n      imageData.data[targetOffset + 2] = pixels[sourceOffset + 2];\n      imageData.data[targetOffset + 3] = pixels[sourceOffset + 3];\n    }\n  }\n  context.putImageData(imageData, 0, 0);\n}\n\nfunction hideExcludedCaptureObjects(scene: THREE.Scene): VisibilityState[] {\n  const hidden: VisibilityState[] = [];\n  scene.traverse((object) => {\n    if (!object.visible) return;\n    if (!object.userData[CAPTURE_EXCLUDE_KEY]) return;\n    hidden.push({ object, visible: object.visible });\n    object.visible = false;\n  });\n  return hidden;\n}\n\nfunction hideCaptureGeomGroups(\n  scene: THREE.Scene,\n  options: CameraFrameCaptureOptions\n): VisibilityState[] {\n  const hidden: VisibilityState[] = [];\n  const hiddenGroups = options.hiddenGeomGroups\n    ? new Set(options.hiddenGeomGroups)\n    : null;\n  const visibleGroups = options.visibleGeomGroups\n    ? new Set(options.visibleGeomGroups)\n    : null;\n  const hiddenNames = options.hiddenGeomNames\n    ? new Set(options.hiddenGeomNames)\n    : null;\n  if (!hiddenGroups && !visibleGroups && !hiddenNames) return hidden;\n\n  scene.traverse((object) => {\n    if (!object.visible) return;\n    const geomGroup = object.userData.geomGroup;\n    const geomName = object.userData.geomName;\n    if (typeof geomGroup !== 'number' && typeof geomName !== 'string') return;\n    if (\n      hiddenNames?.has(geomName) ||\n      hiddenGroups?.has(geomGroup) ||\n      (typeof geomGroup === 'number' && visibleGroups && !visibleGroups.has(geomGroup))\n    ) {\n      hidden.push({ object, visible: object.visible });\n      object.visible = false;\n    }\n  });\n  return hidden;\n}\n\nfunction restoreObjectVisibility(hidden: VisibilityState[]) {\n  for (const { object, visible } of hidden) {\n    object.visible = visible;\n  }\n}\n\nfunction getCameraFrameCaptureSource(\n  options: CameraFrameCaptureOptions\n): CameraFrameCaptureSource {\n  if (options.source) return options.source;\n  if (options.cameraName) {\n    return { kind: 'mujoco-camera', cameraName: options.cameraName };\n  }\n  if (options.siteName) {\n    return { kind: 'mujoco-site', siteName: options.siteName };\n  }\n  if (options.bodyName) {\n    return { kind: 'mujoco-body', bodyName: options.bodyName };\n  }\n  if (options.camera) return { kind: 'custom-camera' };\n  if (options.position || options.lookAt || options.quaternion) {\n    return { kind: 'explicit-pose' };\n  }\n  return { kind: 'fallback-camera' };\n}\n\nfunction saveRendererState(renderer: THREE.WebGLRenderer): RendererState {\n  const viewport = new THREE.Vector4();\n  const scissor = new THREE.Vector4();\n  const clearColor = new THREE.Color();\n  renderer.getViewport(viewport);\n  renderer.getScissor(scissor);\n  renderer.getClearColor(clearColor);\n  return {\n    target: renderer.getRenderTarget(),\n    xrEnabled: renderer.xr.enabled,\n    viewport,\n    scissor,\n    scissorTest: renderer.getScissorTest(),\n    clearColor,\n    clearAlpha: renderer.getClearAlpha(),\n    autoClear: renderer.autoClear,\n  };\n}\n\nfunction restoreRendererState(\n  renderer: THREE.WebGLRenderer,\n  state: RendererState\n) {\n  renderer.setRenderTarget(state.target);\n  renderer.xr.enabled = state.xrEnabled;\n  renderer.setViewport(state.viewport);\n  renderer.setScissor(state.scissor);\n  renderer.setScissorTest(state.scissorTest);\n  renderer.setClearColor(state.clearColor, state.clearAlpha);\n  renderer.autoClear = state.autoClear;\n}\n\nfunction getCaptureRenderer(\n  scene: THREE.Scene\n): CameraFrameCaptureRender | null {\n  const renderers: CameraFrameCaptureRender[] = [];\n  scene.traverse((object) => {\n    if (renderers.length) return;\n    const render = object.userData[\n      CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY\n    ] as CameraFrameCaptureRender | undefined;\n    if (typeof render === 'function') renderers.push(render);\n  });\n  return renderers[0] ?? null;\n}\n\nfunction runCapturePreRenderHooks(scene: THREE.Scene) {\n  const callbacks: CameraFrameCapturePreRender[] = [];\n  scene.traverse((object) => {\n    const callback = object.userData[\n      CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY\n    ] as CameraFrameCapturePreRender | undefined;\n    if (typeof callback === 'function') callbacks.push(callback);\n  });\n  for (const callback of callbacks) callback();\n}\n\nexport function createCameraFrameCaptureSession(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  fallbackCamera: THREE.Camera,\n  options: CameraFrameCaptureOptions = {}\n): CameraFrameCaptureSession {\n  const { width, height } = getCaptureDimensions(renderer, options);\n  const camera = createCaptureCamera(options, fallbackCamera, width, height);\n  const target = new THREE.WebGLRenderTarget(width, height, {\n    format: THREE.RGBAFormat,\n    type: THREE.UnsignedByteType,\n  });\n  const canvas = document.createElement('canvas');\n  canvas.width = width;\n  canvas.height = height;\n  const context = canvas.getContext('2d');\n  if (!context) {\n    target.dispose();\n    throw new Error('Unable to create a 2D canvas for camera frame capture.');\n  }\n  const drawContext = context;\n\n  const pixels = new Uint8Array(width * height * 4);\n  const imageData = drawContext.createImageData(width, height);\n\n  function resolveCaptureOptions(nextOptions: CameraFrameCaptureOptions = {}) {\n    const captureOptions = { ...options, ...nextOptions };\n    const nextDimensions = getCaptureDimensions(renderer, captureOptions);\n    if (\n      nextDimensions.width !== width ||\n      nextDimensions.height !== height\n    ) {\n      throw new Error(\n        'Camera frame capture sessions require stable width and height.'\n      );\n    }\n\n    prepareCaptureCamera(\n      camera,\n      captureOptions,\n      fallbackCamera,\n      width,\n      height\n    );\n\n    return captureOptions;\n  }\n\n  function renderPreparedCapture(captureOptions: CameraFrameCaptureOptions) {\n    const previousState = saveRendererState(renderer);\n    const hidden = [\n      ...hideExcludedCaptureObjects(scene),\n      ...hideCaptureGeomGroups(scene, captureOptions),\n    ];\n\n    runCapturePreRenderHooks(scene);\n    scene.updateMatrixWorld(true);\n    try {\n      renderer.xr.enabled = false;\n      renderer.setRenderTarget(target);\n      renderer.setViewport(0, 0, width, height);\n      renderer.setScissor(0, 0, width, height);\n      renderer.setScissorTest(false);\n      if (captureOptions.background !== undefined) {\n        renderer.setClearColor(\n          new THREE.Color(captureOptions.background),\n          captureOptions.backgroundAlpha ?? previousState.clearAlpha\n        );\n      } else if (captureOptions.backgroundAlpha !== undefined) {\n        renderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);\n      }\n      renderer.clear();\n      renderer.render(scene, camera);\n      readRenderTargetToCanvas(\n        renderer,\n        target,\n        canvas,\n        drawContext,\n        pixels,\n        imageData,\n        width,\n        height,\n        renderer.outputColorSpace,\n        captureOptions.flipX ?? false\n      );\n      return {\n        canvas,\n        camera,\n        width,\n        height,\n        source: getCameraFrameCaptureSource(captureOptions),\n      };\n    } finally {\n      restoreObjectVisibility(hidden);\n      restoreRendererState(renderer, previousState);\n    }\n  }\n\n  function capture(nextOptions: CameraFrameCaptureOptions = {}) {\n    return renderPreparedCapture(resolveCaptureOptions(nextOptions));\n  }\n\n  async function captureAsync(nextOptions: CameraFrameCaptureOptions = {}) {\n    const captureOptions = resolveCaptureOptions(nextOptions);\n    runCapturePreRenderHooks(scene);\n    scene.updateMatrixWorld(true);\n    const captureRenderer = getCaptureRenderer(scene);\n    if (captureRenderer) {\n      const previousState = saveRendererState(renderer);\n      const hidden = [\n        ...hideExcludedCaptureObjects(scene),\n        ...hideCaptureGeomGroups(scene, captureOptions),\n      ];\n      try {\n        renderer.xr.enabled = false;\n        if (captureOptions.background !== undefined) {\n          renderer.setClearColor(\n            new THREE.Color(captureOptions.background),\n            captureOptions.backgroundAlpha ?? previousState.clearAlpha\n          );\n        } else if (captureOptions.backgroundAlpha !== undefined) {\n          renderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);\n        }\n        const captureResult = await captureRenderer({\n          renderer,\n          scene,\n          camera,\n          target,\n          width,\n          height,\n        });\n        if (captureResult) {\n          const captureWidth = captureResult.width ?? width;\n          const captureHeight = captureResult.height ?? height;\n          if (captureWidth !== width || captureHeight !== height) {\n            throw new Error(\n              'Camera frame capture renderer returned unexpected dimensions.'\n            );\n          }\n          readPixelsToCanvas(\n            captureResult.pixels,\n            drawContext,\n            imageData,\n            width,\n            height,\n            captureResult.flipY ?? true,\n            captureResult.flipX ?? captureOptions.flipX ?? false\n          );\n          return {\n            canvas,\n            camera,\n            width,\n            height,\n            source: getCameraFrameCaptureSource(captureOptions),\n          };\n        }\n      } finally {\n        restoreObjectVisibility(hidden);\n        restoreRendererState(renderer, previousState);\n      }\n    }\n    return renderPreparedCapture(captureOptions);\n  }\n\n  return {\n    width,\n    height,\n    capture,\n    captureAsync,\n    captureDataUrl(nextOptions = {}) {\n      const type = nextOptions.type ?? options.type ?? 'image/png';\n      const result = capture(nextOptions);\n      return {\n        ...result,\n        dataUrl: result.canvas.toDataURL(\n          type,\n          nextOptions.quality ?? options.quality\n        ),\n        type,\n      };\n    },\n    async captureDataUrlAsync(nextOptions = {}) {\n      const type = nextOptions.type ?? options.type ?? 'image/png';\n      const result = await captureAsync(nextOptions);\n      return {\n        ...result,\n        dataUrl: result.canvas.toDataURL(\n          type,\n          nextOptions.quality ?? options.quality\n        ),\n        type,\n      };\n    },\n    async captureBlob(nextOptions = {}) {\n      const type = nextOptions.type ?? options.type ?? 'image/png';\n      const result = await captureAsync(nextOptions);\n      const blob = await new Promise<Blob>((resolve, reject) => {\n        result.canvas.toBlob(\n          (nextBlob) => {\n            if (nextBlob) resolve(nextBlob);\n            else reject(new Error('Camera frame capture did not produce a Blob.'));\n          },\n          type,\n          nextOptions.quality ?? options.quality\n        );\n      });\n      return { ...result, blob, type };\n    },\n    dispose() {\n      target.dispose();\n    },\n  };\n}\n\nexport function renderCameraFrameToCanvas(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  fallbackCamera: THREE.Camera,\n  options: CameraFrameCaptureOptions = {}\n) {\n  const session = createCameraFrameCaptureSession(\n    renderer,\n    scene,\n    fallbackCamera,\n    options\n  );\n  try {\n    return session.capture();\n  } finally {\n    session.dispose();\n  }\n}\n\nexport async function captureCameraFrame(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  fallbackCamera: THREE.Camera,\n  options: CameraFrameCaptureOptions = {}\n): Promise<CameraFrameCaptureResult> {\n  const type = options.type ?? 'image/png';\n  const session = createCameraFrameCaptureSession(\n    renderer,\n    scene,\n    fallbackCamera,\n    options\n  );\n  try {\n    const result = await session.captureAsync();\n    return {\n      ...result,\n      dataUrl: result.canvas.toDataURL(type, options.quality),\n      type,\n    };\n  } finally {\n    session.dispose();\n  }\n}\n\nexport async function captureCameraFrameBlob(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  fallbackCamera: THREE.Camera,\n  options: CameraFrameCaptureOptions = {}\n): Promise<CameraFrameCaptureBlobResult> {\n  const session = createCameraFrameCaptureSession(\n    renderer,\n    scene,\n    fallbackCamera,\n    options\n  );\n  try {\n    return await session.captureBlob();\n  } finally {\n    session.dispose();\n  }\n}\n","/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport type { ThreeElements } from '@react-three/fiber';\nimport type { ReactNode } from 'react';\nimport { useEffect, useMemo } from 'react';\nimport * as THREE from 'three';\nimport { SplatEnvironmentReadinessStatus } from '../types';\nimport type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentReadiness,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\n  SplatSceneConfigInput,\n  SplatSceneConfigState,\n  SplatSceneInput,\n  ScenarioLightingPreset,\n  ScenarioLightingProps,\n  SplatEnvironmentProps,\n  VisualScenarioConfig,\n  VisualScenarioExecutionContext,\n  VisualScenarioExecutionContextInput,\n  VisualScenarioEffectsProps,\n} from '../types';\n\nconst DEFAULT_BACKGROUND = '#181a1f';\n\nexport function ScenarioLighting({\n  preset = 'studio',\n  castShadow = true,\n  intensity = 1,\n}: ScenarioLightingProps) {\n  if (preset === 'warehouse') {\n    return (\n      <>\n        <ambientLight intensity={0.18 * intensity} />\n        <directionalLight\n          position={[3.5, -2, 5]}\n          intensity={2.2 * intensity}\n          castShadow={castShadow}\n        />\n        <directionalLight position={[-2, 1.5, 2.5]} intensity={0.25 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'low-light') {\n    return (\n      <>\n        <ambientLight intensity={0.08 * intensity} />\n        <directionalLight\n          position={[2, -2, 3]}\n          intensity={0.75 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[-0.5, -0.8, 1.3]} intensity={0.6 * intensity} />\n      </>\n    );\n  }\n\n  if (preset === 'splat') {\n    return (\n      <>\n        <ambientLight intensity={0.42 * intensity} />\n        <directionalLight\n          position={[1.8, -2.4, 3.5]}\n          intensity={1.2 * intensity}\n          castShadow={castShadow}\n        />\n        <pointLight position={[0.4, 0.2, 1.4]} intensity={0.35 * intensity} />\n      </>\n    );\n  }\n\n  return (\n    <>\n      <ambientLight intensity={0.35 * intensity} />\n      <directionalLight\n        position={[2.5, -3, 4]}\n        intensity={1.6 * intensity}\n        castShadow={castShadow}\n      />\n    </>\n  );\n}\n\nexport function getScenarioBackground(\n  preset: ScenarioLightingPreset | undefined,\n  fallback = DEFAULT_BACKGROUND\n) {\n  if (preset === 'warehouse') return '#20242b';\n  if (preset === 'low-light') return '#0f1115';\n  if (preset === 'splat') return '#1b1f24';\n  return fallback;\n}\n\nexport function getScenarioCameraPosition(\n  basePosition: readonly [number, number, number],\n  scenario?: Pick<VisualScenarioConfig, 'camera'>\n): [number, number, number] {\n  const [x, y, z] = basePosition;\n  const jitter = scenario?.camera?.jitter ?? 0;\n\n  return [\n    Number((x + jitter * 0.6).toFixed(3)),\n    Number((y - jitter * 0.4).toFixed(3)),\n    Number((z + jitter * 0.25).toFixed(3)),\n  ];\n}\n\nexport function useVisualScenarioExecutionContext({\n  scenario,\n  environment,\n  renderer,\n  variantId,\n  enabled,\n}: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext {\n  return useMemo(\n    () =>\n      createVisualScenarioExecutionContext({\n        scenario,\n        environment,\n        renderer,\n        variantId,\n        enabled,\n      }),\n    [enabled, environment, renderer, scenario, variantId]\n  );\n}\n\nexport function createVisualScenarioExecutionContext({\n  scenario,\n  environment,\n  renderer,\n  variantId,\n  enabled = true,\n}: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext {\n  const pairedEnvironment =\n    environment ??\n    (scenario ? createPairedSplatEnvironment(scenario, { renderer }) : undefined);\n  const splat = scenario?.splat;\n  const collisionProxy =\n    pairedEnvironment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n  const readiness = getSplatEnvironmentReadiness({\n    environment: pairedEnvironment,\n    scenario,\n    renderer,\n    enabled,\n  });\n  const format =\n    pairedEnvironment?.splat.format ?? splat?.format ?? readiness.format ?? 'spz';\n\n  return {\n    scenarioId: scenario?.id ?? pairedEnvironment?.id ?? 'visual-scenario',\n    scenarioLabel:\n      scenario?.label ?? pairedEnvironment?.label ?? 'Visual scenario',\n    variantId,\n    seed: scenario?.seed ?? 0,\n    lighting: scenario?.lighting ?? 'studio',\n    environment: scenario?.environment,\n    camera: {\n      jitter: scenario?.camera?.jitter ?? 0,\n      exposure: scenario?.camera?.exposure ?? 1,\n      noise: scenario?.camera?.noise ?? 0,\n      blur: scenario?.camera?.blur ?? 0,\n    },\n    materials: {\n      randomizeObjectColors: Boolean(\n        scenario?.materials?.randomizeObjectColors\n      ),\n      randomizeTableMaterial: Boolean(\n        scenario?.materials?.randomizeTableMaterial\n      ),\n      roughness: scenario?.materials?.roughness,\n      metalness: scenario?.materials?.metalness,\n    },\n    splatEnabled: Boolean(splat?.enabled || pairedEnvironment),\n    splatSrc: pairedEnvironment?.splat.src ?? splat?.src,\n    splatFormat: format,\n    splatRenderer: renderer ?? pairedEnvironment?.splat.renderer,\n    collisionProxyXmlPath: collisionProxy?.xmlPath,\n    collisionProxyStatus: collisionProxy?.status,\n    collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n    readiness,\n    transformSource: 'visualScenario.camera',\n  };\n}\n\nexport function VisualScenarioEffects(props: VisualScenarioEffectsProps) {\n  useVisualScenarioEffects(props);\n  return null;\n}\n\nexport function useVisualScenarioEffects({\n  scenario,\n  enabled = true,\n  applyBackground = true,\n  applyFog = true,\n  applyRenderer = true,\n  applyMaterials = true,\n  background,\n  fogNear,\n  fogFar,\n  materialFilter,\n}: VisualScenarioEffectsProps) {\n  const { gl, scene, invalidate } = useThree();\n\n  useEffect(() => {\n    if (!enabled || !scenario) {\n      return undefined;\n    }\n\n    const previousExposure = gl.toneMappingExposure;\n    const previousBackground = scene.background;\n    const previousFog = scene.fog;\n    const materialSnapshots = new Map<\n      THREE.Material,\n      {\n        color?: THREE.Color;\n        roughness?: number;\n        metalness?: number;\n      }\n    >();\n\n    if (applyRenderer) {\n      gl.toneMappingExposure = scenario.camera?.exposure ?? 1;\n    }\n\n    if (applyBackground) {\n      scene.background = new THREE.Color(\n        background ?? getScenarioBackground(scenario.lighting)\n      );\n    }\n\n    if (applyFog) {\n      scene.fog = createScenarioFog(scenario, background, fogNear, fogFar);\n    }\n\n    if (applyMaterials && scenario.materials) {\n      applyScenarioMaterials(scene, scenario, materialSnapshots, materialFilter);\n    }\n\n    invalidate();\n\n    return () => {\n      gl.toneMappingExposure = previousExposure;\n      scene.background = previousBackground;\n      scene.fog = previousFog;\n\n      for (const [material, snapshot] of materialSnapshots) {\n        const mutable = getMutableScenarioMaterial(material);\n        if (!mutable) continue;\n        if (snapshot.color) mutable.color.copy(snapshot.color);\n        if (typeof snapshot.roughness === 'number') {\n          mutable.roughness = snapshot.roughness;\n        }\n        if (typeof snapshot.metalness === 'number') {\n          mutable.metalness = snapshot.metalness;\n        }\n        mutable.needsUpdate = true;\n      }\n\n      invalidate();\n    };\n  }, [\n    applyBackground,\n    applyFog,\n    applyMaterials,\n    applyRenderer,\n    background,\n    enabled,\n    fogFar,\n    fogNear,\n    gl,\n    invalidate,\n    materialFilter,\n    scenario,\n    scene,\n  ]);\n}\n\n/**\n * Renderer-agnostic Gaussian splat environment boundary.\n *\n * This component intentionally does not import a specific 3DGS renderer. Pass a\n * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,\n * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.\n */\nexport function SplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  children,\n  showPlaceholder = true,\n  ...groupProps\n}: SplatEnvironmentProps) {\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const existingUserData =\n    typeof groupProps.userData === 'object' && groupProps.userData !== null\n      ? groupProps.userData\n      : {};\n\n  return (\n    <group\n      {...groupProps}\n      userData={{\n        ...existingUserData,\n        ...metadata.userData,\n      }}\n    >\n      {children}\n      {children || !showPlaceholder ? null : <SplatPlaceholder />}\n      {collisionProxy}\n    </group>\n  );\n}\n\nexport function useSplatEnvironment({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n}: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata {\n  const scenarioEnvironment = useMemo(\n    () =>\n      environment ??\n      (scenario\n        ? createPairedSplatEnvironment(scenario, { renderer })\n        : undefined),\n    [environment, renderer, scenario]\n  );\n  const resolvedSrc = src ?? scenarioEnvironment?.splat.src ?? scenario?.splat?.src;\n  const resolvedFormat =\n    format ??\n    scenarioEnvironment?.splat.format ??\n    scenario?.splat?.format ??\n    'spz';\n  const resolvedCollisionProxy =\n    collisionProxy ??\n    scenarioEnvironment?.collisionProxy ??\n    scenario?.splat?.collisionProxy ??\n    undefined;\n  const readiness = useMemo(\n    () =>\n      getSplatEnvironmentReadiness({\n        environment: scenarioEnvironment,\n        scenario,\n        renderer,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    [\n      collisionProxy,\n      renderer,\n      resolvedCollisionProxy,\n      resolvedFormat,\n      resolvedSrc,\n      scenario,\n      scenarioEnvironment,\n    ]\n  );\n\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      readiness,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n        readiness,\n      }),\n    }),\n    [\n      scenarioEnvironment,\n      resolvedSrc,\n      resolvedFormat,\n      resolvedCollisionProxy,\n      readiness,\n    ]\n  );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment and compose its MJCF\n * collision proxy into a MuJoCo scene config.\n *\n * This hook is renderer-agnostic: apps can use it with Spark, another 3DGS\n * renderer, or their own Three scene objects while keeping physics collision\n * files paired with the visual splat metadata.\n */\nexport function useSplatSceneConfig({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n  return useMemo(\n    () =>\n      createSplatSceneConfig({\n        sceneConfig,\n        scenario,\n        environment,\n        enabled,\n        renderer,\n      }),\n    [enabled, environment, renderer, scenario, sceneConfig]\n  );\n}\n\n/**\n * Resolve a visual scenario's paired splat environment without requiring React.\n *\n * Use this in codegen, import validators, backend handoff metadata, or app code\n * that needs the same behavior as `useSplatSceneConfig` outside a component.\n */\nexport function createSplatSceneConfig({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer,\n}: SplatSceneConfigInput): SplatSceneConfigState {\n  const resolvedEnvironment = enabled\n    ? environment ??\n      (scenario\n        ? createPairedSplatEnvironment(scenario, { renderer })\n        : undefined)\n    : undefined;\n  const readiness = getSplatEnvironmentReadiness({\n    environment: resolvedEnvironment,\n    scenario,\n    renderer,\n    enabled,\n  });\n  const resolvedSceneConfig = resolvedEnvironment\n    ? withSplatEnvironment(sceneConfig, resolvedEnvironment, { renderer })\n    : sceneConfig;\n\n  return {\n    environment: resolvedEnvironment,\n    sceneConfig: resolvedSceneConfig,\n    enabled:\n      enabled && readiness.status !== SplatEnvironmentReadinessStatus.Disabled,\n    readiness,\n  };\n}\n\nexport function getSplatEnvironmentReadiness({\n  environment,\n  scenario,\n  renderer,\n  src,\n  format,\n  collisionProxy,\n  enabled = true,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  scenario?: Pick<VisualScenarioConfig, 'splat'>;\n  renderer?: SplatRendererKind;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  enabled?: boolean;\n}): SplatEnvironmentReadiness {\n  const splat = scenario?.splat;\n  const resolvedSrc = src ?? environment?.splat.src ?? splat?.src;\n  const resolvedFormat =\n    format ?? environment?.splat.format ?? splat?.format ?? 'spz';\n  const resolvedRenderer = renderer ?? environment?.splat.renderer;\n  const resolvedCollisionProxy =\n    collisionProxy ?? environment?.collisionProxy ?? splat?.collisionProxy ?? undefined;\n  const requiresCollisionProxy = splat?.requiresCollisionProxy ?? true;\n\n  if (!enabled || (splat && splat.enabled === false && !environment)) {\n    return {\n      status: SplatEnvironmentReadinessStatus.Disabled,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is disabled.',\n    };\n  }\n\n  if (!resolvedSrc) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingSplat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['splat'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing a visual asset source.',\n    };\n  }\n\n  if (resolvedRenderer === 'spark' && resolvedFormat !== 'spz') {\n    return {\n      status: SplatEnvironmentReadinessStatus.UnsupportedFormat,\n      ready: false,\n      requiresCollisionProxy,\n      missing: [],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: `Spark splat rendering requires .spz assets; received ${resolvedFormat}.`,\n    };\n  }\n\n  if (requiresCollisionProxy && !resolvedCollisionProxy?.xmlPath) {\n    return {\n      status: SplatEnvironmentReadinessStatus.MissingCollisionProxy,\n      ready: false,\n      requiresCollisionProxy,\n      missing: ['collisionProxy'],\n      format: resolvedFormat,\n      renderer: resolvedRenderer,\n      message: 'Splat environment is missing paired MJCF collision proxy XML.',\n    };\n  }\n\n  return {\n    status: SplatEnvironmentReadinessStatus.Ready,\n    ready: true,\n    requiresCollisionProxy,\n    missing: [],\n    format: resolvedFormat,\n    renderer: resolvedRenderer,\n    message: requiresCollisionProxy\n      ? 'Splat environment has visual asset and collision proxy metadata.'\n      : 'Splat environment has a visual asset and does not require collision proxy metadata.',\n  };\n}\n\n/**\n * Convert a generic visual scenario splat block into a composable splat\n * environment config. Visual-only splats are valid; readiness reports whether\n * a paired MJCF collision proxy is required before training/physics handoff.\n */\nexport function createPairedSplatEnvironment(\n  scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>,\n  options: {\n    id?: string;\n    label?: string;\n    description?: string;\n    renderer?: SplatRendererKind;\n  } = {}\n): PairedSplatEnvironmentConfig | undefined {\n  const splat = scenario.splat;\n  const collisionProxy = splat?.collisionProxy;\n\n  if (!splat?.enabled || !splat.src) {\n    return undefined;\n  }\n\n  return {\n    id: options.id ?? scenario.id ?? 'splat-environment',\n    label: options.label ?? scenario.label ?? 'Gaussian splat environment',\n    description:\n      options.description ??\n      (scenario.environment\n        ? `Visual ${scenario.environment} splat paired with MJCF collision proxy.`\n        : undefined),\n    splat: {\n      src: splat.src,\n      format: splat.format ?? 'spz',\n      renderer: options.renderer,\n    },\n    collisionProxy: collisionProxy?.xmlPath\n      ? {\n          ...collisionProxy,\n          xmlPath: collisionProxy.xmlPath,\n        }\n      : undefined,\n  };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n  return (\n    !!input &&\n    'splat' in input &&\n    !!input.splat &&\n    !('enabled' in input.splat)\n  );\n}\n\nfunction sceneRelativePath(sceneConfig: SceneConfig, path: string): string {\n  const src = sceneConfig.src;\n  if (!src) return path;\n\n  const base = src.endsWith('/') ? src : src + '/';\n  if (path.startsWith(base)) return path.slice(base.length);\n  return path;\n}\n\nfunction uniquePaths(paths: readonly string[]): string[] {\n  const seen = new Set<string>();\n  const result: string[] = [];\n  for (const path of paths) {\n    if (seen.has(path)) continue;\n    seen.add(path);\n    result.push(path);\n  }\n  return result;\n}\n\n/**\n * Compose a MuJoCo scene config with a paired splat collision proxy.\n *\n * This keeps the common hybrid setup declarative:\n * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and\n * the paired MJCF collision proxy is added to `environmentFiles`.\n */\nexport function withSplatEnvironment(\n  sceneConfig: SceneConfig,\n  input: SplatSceneInput,\n  options: { renderer?: SplatRendererKind } = {}\n): SceneConfig {\n  const environment = isPairedSplatEnvironment(input)\n    ? input\n    : input\n      ? createPairedSplatEnvironment(input, options)\n      : undefined;\n  const xmlPath = environment?.collisionProxy?.xmlPath;\n  if (!xmlPath) return sceneConfig;\n\n  return {\n    ...sceneConfig,\n    environmentFiles: uniquePaths([\n      ...(sceneConfig.environmentFiles ?? []),\n      sceneRelativePath(sceneConfig, xmlPath),\n    ]),\n  };\n}\n\nexport function createSplatEnvironmentUserData({\n  environment,\n  src,\n  format = 'spz',\n  collisionProxy,\n  readiness,\n}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\n  readiness?: SplatEnvironmentReadiness;\n}) {\n  return {\n    role: 'splat-environment',\n    environmentId: environment?.id,\n    environmentLabel: environment?.label,\n    splatSrc: src,\n    splatFormat: format,\n    splatRenderer: environment?.splat.renderer,\n    collisionProxyStatus: collisionProxy?.status ?? 'missing',\n    collisionProxyXmlPath: collisionProxy?.xmlPath,\n    collisionProxyPrimitives: collisionProxy?.primitives ?? [],\n    readinessStatus: readiness?.status,\n    readinessMessage: readiness?.message,\n  };\n}\n\nexport function createSparkSplatViewerUrl({\n  viewerUrl,\n  splatSrc,\n}: {\n  viewerUrl: string;\n  splatSrc: string;\n}) {\n  const url = new URL(viewerUrl, 'http://mujoco-react.local');\n  url.searchParams.set('splat', splatSrc);\n  return viewerUrl.startsWith('http') ? url.toString() : `${url.pathname}${url.search}`;\n}\n\nfunction SplatPlaceholder() {\n  return (\n    <group>\n      <mesh position={[0, 0, 1.2]}>\n        <boxGeometry args={[2.4, 2.4, 2.4]} />\n        <meshBasicMaterial\n          color=\"#8b8b8b\"\n          transparent\n          opacity={0.06}\n          wireframe\n          side={THREE.DoubleSide}\n        />\n      </mesh>\n    </group>\n  );\n}\n\nfunction createScenarioFog(\n  scenario: VisualScenarioConfig,\n  background: THREE.ColorRepresentation | undefined,\n  fogNear: number | undefined,\n  fogFar: number | undefined\n) {\n  if (scenario.lighting === 'low-light') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 2.5,\n      fogFar ?? 9\n    );\n  }\n\n  if (scenario.lighting === 'warehouse') {\n    return new THREE.Fog(\n      background ?? getScenarioBackground(scenario.lighting),\n      fogNear ?? 5,\n      fogFar ?? 16\n    );\n  }\n\n  return null;\n}\n\nfunction applyScenarioMaterials(\n  scene: THREE.Scene,\n  scenario: VisualScenarioConfig,\n  snapshots: Map<\n    THREE.Material,\n    {\n      color?: THREE.Color;\n      roughness?: number;\n      metalness?: number;\n    }\n  >,\n  materialFilter: VisualScenarioEffectsProps['materialFilter']\n) {\n  const materials = scenario.materials;\n  if (!materials) return;\n\n  scene.traverse((object) => {\n    if (!(object instanceof THREE.Mesh)) {\n      return;\n    }\n\n    for (const material of normalizeMaterials(object.material)) {\n      const mutable = getMutableScenarioMaterial(material);\n      if (!mutable) continue;\n      if (materialFilter && !materialFilter({ object, material })) continue;\n\n      if (!snapshots.has(material)) {\n        snapshots.set(material, {\n          color: mutable.color.clone(),\n          roughness: mutable.roughness,\n          metalness: mutable.metalness,\n        });\n      }\n\n      applyScenarioMaterial(mutable, object, scenario, materials);\n    }\n  });\n}\n\nfunction applyScenarioMaterial(\n  material: THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial,\n  object: THREE.Object3D,\n  scenario: VisualScenarioConfig,\n  materials: ScenarioMaterialConfig\n) {\n  const seed = scenario.seed ?? 0;\n  const objectKey = `${scenario.id ?? 'scenario'}:${object.name}:${material.name}:${seed}`;\n  const variation = hashToUnitInterval(objectKey);\n\n  if (materials.randomizeObjectColors) {\n    material.color.setHSL(variation, 0.38, 0.42);\n  }\n\n  if (materials.randomizeTableMaterial) {\n    material.roughness = clamp01(\n      materials.roughness ?? 0.35 + variation * 0.45\n    );\n    material.metalness = clamp01(\n      materials.metalness ?? variation * 0.12\n    );\n  }\n\n  material.needsUpdate = true;\n}\n\nfunction normalizeMaterials(\n  material: THREE.Material | THREE.Material[]\n): THREE.Material[] {\n  return Array.isArray(material) ? material : [material];\n}\n\nfunction getMutableScenarioMaterial(\n  material: THREE.Material\n): THREE.MeshStandardMaterial | THREE.MeshPhysicalMaterial | null {\n  if (\n    material instanceof THREE.MeshStandardMaterial ||\n    material instanceof THREE.MeshPhysicalMaterial\n  ) {\n    return material;\n  }\n\n  return null;\n}\n\nfunction hashToUnitInterval(value: string) {\n  let hash = 2166136261;\n  for (let index = 0; index < value.length; index += 1) {\n    hash ^= value.charCodeAt(index);\n    hash = Math.imul(hash, 16777619);\n  }\n  return (hash >>> 0) / 4294967295;\n}\n\nfunction clamp01(value: number) {\n  return Math.max(0, Math.min(1, value));\n}\n\nexport type SplatCollisionProxy = ReactNode | ThreeElements['group'];\n"]}