mujoco-react 10.4.0 → 10.5.0

package/dist/chunk-KHZ5U36J.js.map

@@ -0,0 +1 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\nimport type {\n  CameraFrameCaptureSession,\n  CameraFrameCaptureTensorOptions,\n  CameraFrameTensorResult,\n} from './rendering/cameraFrameCapture';\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  cam_intrinsic?: Float64Array;\n  cam_resolution?: Int32Array;\n  cam_sensorsize?: 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 contact type bitmask. Defaults to 1 for generated objects. */\n  contype?: number;\n  /** MuJoCo geom contact affinity bitmask. Defaults to 1 for generated objects. */\n  conaffinity?: 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  /**\n   * Optional solve-space joint limits in the same order as the resolved joints.\n   * Use this when MJCF limits are intentionally broad or when a setup/calibration\n   * tool should stay within a narrower envelope.\n   */\n  jointLimits?: ReadonlyArray<readonly [number, number] | null | undefined>;\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  resolution: [number, number] | null;\n  sensorSize: [number, number] | null;\n  intrinsic: [number, number, number, 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 DebugVirtualCamera {\n  name?: string;\n  position?: CameraFrameCaptureVector3;\n  lookAt?: CameraFrameCaptureVector3;\n  up?: CameraFrameCaptureVector3;\n  quaternion?: THREE.Quaternion | readonly [number, number, number, number];\n  fov?: number;\n  width?: number;\n  height?: number;\n  frustumDepth?: number;\n  markerScale?: number;\n  color?: THREE.ColorRepresentation;\n  aimColor?: THREE.ColorRepresentation;\n}\n\nexport interface DebugProps {\n  showGeoms?: boolean;\n  showSites?: boolean;\n  showJoints?: boolean;\n  showCameras?: boolean;\n  /** Additional explicit virtual camera poses to visualize alongside MuJoCo XML cameras. */\n  virtualCameras?: readonly DebugVirtualCamera[];\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  /** Capture a camera frame straight into a policy image tensor (no canvas/PNG encode). */\n  captureCameraFrameTensor(options?: CameraFrameCaptureTensorOptions): CameraFrameTensorResult;\n  /**\n   * Create a reusable offscreen capture session bound to this scene. Reuse it\n   * for live inference/recording so the render target and buffers persist\n   * across frames; call `session.captureTensor()` / `capturePixels()` each step.\n   */\n  createCameraFrameCaptureSession(options?: CameraFrameCaptureOptions): CameraFrameCaptureSession;\n  /**\n   * Resolve a named MuJoCo camera/site/body into concrete capture options with\n   * the current world pose. Useful for re-aiming a persistent session each step.\n   */\n  resolveCameraCaptureOptions(options?: CameraFrameCaptureOptions): CameraFrameCaptureOptions;\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 CameraFrameVisualOverrides {\n  /**\n   * Override `scene.background` for this capture only.\n   * Use `null` or `false` to render without the viewer scene background.\n   */\n  sceneBackground?: THREE.Scene['background'] | THREE.ColorRepresentation | null | false;\n  /**\n   * Override `scene.environment` for this capture only.\n   * Use `null` or `false` to remove viewer environment lighting/maps.\n   */\n  sceneEnvironment?: THREE.Scene['environment'] | null | false;\n  /**\n   * Override `scene.fog` for this capture only.\n   * Use `null` or `false` to remove viewer fog.\n   */\n  sceneFog?: THREE.Scene['fog'] | null | false;\n  /** Override `renderer.shadowMap.enabled` while capturing. */\n  shadows?: boolean;\n  /** Override renderer tone mapping while capturing. */\n  toneMapping?: THREE.WebGLRenderer['toneMapping'];\n  /** Override renderer output color space while capturing. */\n  outputColorSpace?: THREE.WebGLRenderer['outputColorSpace'];\n}\n\nexport interface CameraFrameRenderIsolationOptions {\n  /**\n   * Use an independent offscreen WebGLRenderer for this capture.\n   *\n   * This prevents viewer renderer settings such as antialiasing, shadow-map\n   * configuration, tone mapping, and environment setup from leaking into\n   * policy/training images. Leave unset for the historical shared-renderer path.\n   */\n  enabled?: boolean;\n  /** Offscreen renderer antialiasing. Defaults to false for deterministic policy captures. */\n  antialias?: boolean;\n  /** Offscreen renderer alpha buffer. Defaults to false, matching Three.js WebGLRenderer. */\n  alpha?: boolean;\n  /** Offscreen renderer preserveDrawingBuffer flag. Defaults to false. */\n  preserveDrawingBuffer?: boolean;\n  /** Offscreen renderer power preference. Defaults to the browser's renderer default. */\n  powerPreference?: WebGLPowerPreference;\n  /** Reuse an offscreen renderer for matching capture dimensions/options. Defaults to true. */\n  cache?: boolean;\n}\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  /**\n   * Explicit projection matrix for offscreen capture. This is useful when a\n   * MuJoCo camera has calibrated intrinsics that cannot be represented by a\n   * symmetric Three.js PerspectiveCamera fov alone.\n   */\n  projectionMatrix?: THREE.Matrix4 | readonly number[];\n  /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n  source?: CameraFrameCaptureSource;\n  /**\n   * When resolving a named MuJoCo camera, derive Three capture settings from\n   * MuJoCo camera metadata where available: cam_resolution, cam_fovy,\n   * cam_intrinsic/cam_sensorsize, and visual map near/far clipping.\n   */\n  mujocoCameraCompatibility?: boolean | {\n    useResolution?: boolean;\n    useIntrinsics?: boolean;\n    useClipping?: boolean;\n    /**\n     * When a MuJoCo camera has `resolution` metadata and the caller supplies\n     * only width or only height, derive the missing dimension from the MuJoCo\n     * camera aspect ratio.\n     */\n    preserveAspect?: boolean;\n    /**\n     * Prefer the MuJoCo camera's configured resolution over width/height\n     * provided by the caller. Leave false when a policy wants fixed-size\n     * payloads while still preserving the camera aspect ratio.\n     */\n    preferResolution?: boolean;\n  };\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  /** Temporary scene/renderer visual overrides applied only for this offscreen capture. */\n  visualOverrides?: CameraFrameVisualOverrides;\n  /**\n   * Render this capture with a separate offscreen WebGLRenderer.\n   *\n   * This is useful for policy or training captures that should remain canonical\n   * while the interactive viewer uses richer visual effects.\n   */\n  renderIsolation?: boolean | CameraFrameRenderIsolationOptions;\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\nexport type MujocoMeshNormalSmoothing =\n  | boolean\n  | {\n    /** Vertex merge tolerance used before recomputing mesh normals. Defaults to `1e-4`. */\n    tolerance?: number;\n  };\n\nexport interface MujocoRenderOptions {\n  /**\n   * Smooth mesh normals by welding duplicate vertices before recomputing normals.\n   * Useful for faceted STL visuals; keep off for exact policy-render parity.\n   */\n  meshNormalSmoothing?: MujocoMeshNormalSmoothing;\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  renderOptions?: MujocoRenderOptions;\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 * Helpers for turning browser camera captures into policy image tensors.\n */\n\nexport type PolicyImageTensorLayout = 'CHW' | 'HWC';\nexport type PolicyImageTensorRange = readonly [number, number];\n/**\n * Row order of a raw pixel buffer. WebGL `readRenderTargetPixels` returns rows\n * bottom-to-top (`'bottom-left'`); `ImageData` is top-to-bottom (`'top-left'`).\n */\nexport type PolicyImageTensorSourceOrigin = 'top-left' | 'bottom-left';\n\nexport interface PolicyImageTensorOptions {\n  width: number;\n  height: number;\n  channels?: 3 | 4;\n  layout?: PolicyImageTensorLayout;\n  range?: PolicyImageTensorRange;\n}\n\nexport interface PolicyImageTensorPixelOptions extends PolicyImageTensorOptions {\n  /** Row order of the source buffer. Defaults to `'top-left'`. */\n  sourceOrigin?: PolicyImageTensorSourceOrigin;\n  /** Mirror horizontally while reading. */\n  flipX?: boolean;\n}\n\nexport interface PolicyImageTensorResult {\n  data: Float32Array;\n  shape: [number, number, number];\n  width: number;\n  height: number;\n  channels: 3 | 4;\n  layout: PolicyImageTensorLayout;\n  range: PolicyImageTensorRange;\n}\n\nfunction resolveTensorOptions(options: PolicyImageTensorOptions): Required<PolicyImageTensorOptions> {\n  return {\n    channels: 3,\n    layout: 'CHW',\n    range: [0, 1],\n    ...options,\n  };\n}\n\nfunction normalizeChannel(value: number, range: PolicyImageTensorRange) {\n  const [min, max] = range;\n  if (min === 0 && max === 255) return value;\n  return min + (value / 255) * (max - min);\n}\n\n/**\n * Convert a raw RGBA pixel buffer (4 bytes per pixel) directly into a policy\n * image tensor. This is the fast path that skips canvas encoding entirely —\n * feed it the `Uint8Array` returned by `readRenderTargetPixels` (which is\n * bottom-left origin, so pass `sourceOrigin: 'bottom-left'`).\n */\nexport function pixelsToPolicyImageTensor(\n  pixels: Uint8Array | Uint8ClampedArray,\n  options: PolicyImageTensorPixelOptions\n): PolicyImageTensorResult {\n  const resolved = resolveTensorOptions(options);\n  const { width, height, channels, layout, range } = resolved;\n  const expected = width * height * 4;\n  if (pixels.length < expected) {\n    throw new Error(\n      `Pixel buffer of length ${pixels.length} is too small for ${width}x${height} RGBA data (${expected} bytes).`\n    );\n  }\n\n  const flipY = options.sourceOrigin === 'bottom-left';\n  const flipX = options.flipX ?? false;\n  const pixelCount = width * height;\n  const data = new Float32Array(pixelCount * channels);\n\n  for (let y = 0; y < height; y += 1) {\n    const sourceY = flipY ? height - y - 1 : y;\n    for (let x = 0; x < width; x += 1) {\n      const sourceX = flipX ? width - x - 1 : x;\n      const source = (sourceY * width + sourceX) * 4;\n      const target = y * width + x;\n      for (let channel = 0; channel < channels; channel += 1) {\n        const value = normalizeChannel(pixels[source + channel], range);\n        if (layout === 'CHW') {\n          data[channel * pixelCount + target] = value;\n        } else {\n          data[target * channels + channel] = value;\n        }\n      }\n    }\n  }\n\n  return {\n    data,\n    shape: layout === 'CHW' ? [channels, height, width] : [height, width, channels],\n    width,\n    height,\n    channels,\n    layout,\n    range,\n  };\n}\n\nexport function imageDataToPolicyImageTensor(\n  imageData: ImageData,\n  options: PolicyImageTensorOptions\n): PolicyImageTensorResult {\n  const resolved = resolveTensorOptions(options);\n  if (imageData.width !== resolved.width || imageData.height !== resolved.height) {\n    throw new Error(\n      `ImageData size ${imageData.width}x${imageData.height} does not match tensor size ${resolved.width}x${resolved.height}.`\n    );\n  }\n  return pixelsToPolicyImageTensor(imageData.data, {\n    ...resolved,\n    sourceOrigin: 'top-left',\n  });\n}\n\nasync function decodeImageSource(dataUrl: string) {\n  const image = new Image();\n  image.decoding = 'async';\n  image.src = dataUrl;\n  await image.decode();\n  return image;\n}\n\nexport async function dataUrlToPolicyImageTensor(\n  dataUrl: string,\n  options: PolicyImageTensorOptions\n): Promise<PolicyImageTensorResult> {\n  const resolved = resolveTensorOptions(options);\n  const image = await decodeImageSource(dataUrl);\n  const canvas = document.createElement('canvas');\n  canvas.width = resolved.width;\n  canvas.height = resolved.height;\n  const context = canvas.getContext('2d', { willReadFrequently: true });\n  if (!context) {\n    throw new Error('Unable to create a 2D canvas context for policy image tensor conversion.');\n  }\n  context.drawImage(image, 0, 0, resolved.width, resolved.height);\n  return imageDataToPolicyImageTensor(\n    context.getImageData(0, 0, resolved.width, resolved.height),\n    resolved\n  );\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';\nimport {\n  pixelsToPolicyImageTensor,\n  type PolicyImageTensorOptions,\n  type PolicyImageTensorResult,\n} from '../policyImageTensors';\n\n/** Options for capturing a camera frame straight into a policy image tensor. */\nexport type CameraFrameCaptureTensorOptions = CameraFrameCaptureOptions &\n  Pick<PolicyImageTensorOptions, 'channels' | 'layout' | 'range'>;\n\nexport interface CameraFramePixelsResult {\n  /** Raw RGBA pixels, bottom-left origin (reused buffer — consume before the next capture). */\n  pixels: Uint8Array;\n  camera: THREE.Camera;\n  width: number;\n  height: number;\n  source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameTensorResult extends PolicyImageTensorResult {\n  camera: THREE.Camera;\n  source: CameraFrameCaptureSource;\n}\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  /**\n   * Render and read raw RGBA pixels without any canvas/PNG round-trip. The\n   * returned buffer is reused between calls — copy or convert it before the\n   * next capture.\n   */\n  capturePixels(options?: CameraFrameCaptureOptions): CameraFramePixelsResult;\n  /** Render straight into a normalized policy image tensor (no canvas/PNG encode). */\n  captureTensor(options?: CameraFrameCaptureTensorOptions): CameraFrameTensorResult;\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  shadowMapEnabled: boolean;\n  toneMapping: THREE.WebGLRenderer['toneMapping'];\n  outputColorSpace: THREE.WebGLRenderer['outputColorSpace'];\n};\n\ntype SceneVisualState = {\n  background: THREE.Scene['background'];\n  environment: THREE.Scene['environment'];\n  fog: THREE.Scene['fog'];\n};\n\ntype VisibilityState = {\n  object: THREE.Object3D;\n  visible: boolean;\n};\n\ntype CameraFrameCapturePreRender = () => void;\n\nconst isolatedRendererCache = new WeakMap<\n  THREE.WebGLRenderer,\n  Map<string, THREE.WebGLRenderer>\n>();\n\nfunction shouldUseRenderIsolation(\n  options: CameraFrameCaptureOptions\n): boolean {\n  return options.renderIsolation === true || (\n    typeof options.renderIsolation === 'object' &&\n    options.renderIsolation.enabled !== false\n  );\n}\n\nfunction getRenderIsolationOptions(\n  options: CameraFrameCaptureOptions\n) {\n  return typeof options.renderIsolation === 'object'\n    ? options.renderIsolation\n    : {};\n}\n\nfunction getRenderIsolationCacheKey(\n  width: number,\n  height: number,\n  options: CameraFrameCaptureOptions\n) {\n  const isolation = getRenderIsolationOptions(options);\n  return JSON.stringify({\n    width,\n    height,\n    antialias: isolation.antialias ?? false,\n    alpha: isolation.alpha ?? false,\n    preserveDrawingBuffer: isolation.preserveDrawingBuffer ?? false,\n    powerPreference: isolation.powerPreference ?? null,\n  });\n}\n\nfunction createIsolatedRenderer(\n  sourceRenderer: THREE.WebGLRenderer,\n  width: number,\n  height: number,\n  options: CameraFrameCaptureOptions\n): { renderer: THREE.WebGLRenderer; cached: boolean } | null {\n  if (!shouldUseRenderIsolation(options)) return null;\n\n  const isolation = getRenderIsolationOptions(options);\n  if (isolation.cache !== false) {\n    const cacheKey = getRenderIsolationCacheKey(width, height, options);\n    let rendererCache = isolatedRendererCache.get(sourceRenderer);\n    if (!rendererCache) {\n      rendererCache = new Map();\n      isolatedRendererCache.set(sourceRenderer, rendererCache);\n    }\n    const cachedRenderer = rendererCache.get(cacheKey);\n    if (cachedRenderer) {\n      cachedRenderer.outputColorSpace = sourceRenderer.outputColorSpace;\n      cachedRenderer.toneMapping = sourceRenderer.toneMapping;\n      cachedRenderer.shadowMap.enabled = false;\n      return { renderer: cachedRenderer, cached: true };\n    }\n    const createdRenderer = createUncachedIsolatedRenderer(\n      sourceRenderer,\n      width,\n      height,\n      options\n    );\n    rendererCache.set(cacheKey, createdRenderer);\n    return { renderer: createdRenderer, cached: true };\n  }\n\n  return {\n    renderer: createUncachedIsolatedRenderer(sourceRenderer, width, height, options),\n    cached: false,\n  };\n}\n\nfunction createUncachedIsolatedRenderer(\n  sourceRenderer: THREE.WebGLRenderer,\n  width: number,\n  height: number,\n  options: CameraFrameCaptureOptions\n) {\n  const isolation = getRenderIsolationOptions(options);\n  const canvas = document.createElement('canvas');\n  const renderer = new THREE.WebGLRenderer({\n    canvas,\n    antialias: isolation.antialias ?? false,\n    alpha: isolation.alpha ?? false,\n    preserveDrawingBuffer: isolation.preserveDrawingBuffer ?? false,\n    powerPreference: isolation.powerPreference,\n  });\n\n  renderer.setPixelRatio(1);\n  renderer.setSize(width, height, false);\n  renderer.outputColorSpace = sourceRenderer.outputColorSpace;\n  renderer.toneMapping = sourceRenderer.toneMapping;\n  renderer.shadowMap.enabled = false;\n  return renderer;\n}\n\nfunction toVector3(\n  value: CameraFrameCaptureVector3 | undefined,\n  fallback: THREE.Vector3\n): THREE.Vector3 {\n  if (!value) return fallback.clone();\n  return value instanceof THREE.Vector3\n    ? value.clone()\n    : new THREE.Vector3(value[0], value[1], value[2]);\n}\n\nfunction applyCameraPose(\n  camera: THREE.Camera,\n  options: CameraFrameCaptureOptions,\n  fallbackCamera: THREE.Camera\n) {\n  camera.position.copy(toVector3(options.position, fallbackCamera.position));\n  camera.up.copy(toVector3(options.up, fallbackCamera.up));\n\n  if (options.quaternion) {\n    if (options.quaternion instanceof THREE.Quaternion) {\n      camera.quaternion.copy(options.quaternion);\n    } else {\n      camera.quaternion.set(\n        options.quaternion[0],\n        options.quaternion[1],\n        options.quaternion[2],\n        options.quaternion[3]\n      );\n    }\n  } else if (options.lookAt) {\n    camera.lookAt(toVector3(options.lookAt, new THREE.Vector3()));\n  } else {\n    camera.quaternion.copy(fallbackCamera.quaternion);\n  }\n\n  camera.updateMatrixWorld();\n}\n\nfunction applyProjectionMatrix(\n  camera: THREE.Camera,\n  projectionMatrix: CameraFrameCaptureOptions['projectionMatrix'] | undefined\n) {\n  if (!projectionMatrix) return;\n  if (projectionMatrix instanceof THREE.Matrix4) {\n    camera.projectionMatrix.copy(projectionMatrix);\n  } else {\n    camera.projectionMatrix.fromArray(projectionMatrix);\n  }\n  camera.projectionMatrixInverse.copy(camera.projectionMatrix).invert();\n}\n\nexport function 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  applyProjectionMatrix(camera, options.projectionMatrix);\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\nexport function 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  applyProjectionMatrix(camera, options.projectionMatrix);\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    shadowMapEnabled: renderer.shadowMap.enabled,\n    toneMapping: renderer.toneMapping,\n    outputColorSpace: renderer.outputColorSpace,\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  renderer.shadowMap.enabled = state.shadowMapEnabled;\n  renderer.toneMapping = state.toneMapping;\n  renderer.outputColorSpace = state.outputColorSpace;\n}\n\nfunction saveSceneVisualState(scene: THREE.Scene): SceneVisualState {\n  return {\n    background: scene.background,\n    environment: scene.environment,\n    fog: scene.fog,\n  };\n}\n\nfunction restoreSceneVisualState(scene: THREE.Scene, state: SceneVisualState) {\n  scene.background = state.background;\n  scene.environment = state.environment;\n  scene.fog = state.fog;\n}\n\nfunction hasOwn<T extends object>(object: T, key: keyof T) {\n  return Object.prototype.hasOwnProperty.call(object, key);\n}\n\nfunction applyCaptureVisualOverrides(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  options: CameraFrameCaptureOptions\n): SceneVisualState | null {\n  const overrides = options.visualOverrides;\n  if (!overrides) return null;\n\n  const previousSceneState = saveSceneVisualState(scene);\n  if (hasOwn(overrides, 'sceneBackground')) {\n    const background = overrides.sceneBackground;\n    scene.background = background === false ? null : (\n      typeof background === 'string' || typeof background === 'number'\n        ? new THREE.Color(background)\n        : background ?? null\n    );\n  }\n  if (hasOwn(overrides, 'sceneEnvironment')) {\n    const environment = overrides.sceneEnvironment;\n    scene.environment = environment === false ? null : environment ?? null;\n  }\n  if (hasOwn(overrides, 'sceneFog')) {\n    const fog = overrides.sceneFog;\n    scene.fog = fog === false ? null : fog ?? null;\n  }\n  if (overrides.shadows !== undefined) {\n    renderer.shadowMap.enabled = overrides.shadows;\n  }\n  if (overrides.toneMapping !== undefined) {\n    renderer.toneMapping = overrides.toneMapping;\n  }\n  if (overrides.outputColorSpace !== undefined) {\n    renderer.outputColorSpace = overrides.outputColorSpace;\n  }\n  return previousSceneState;\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 isolatedRenderer = createIsolatedRenderer(renderer, width, height, options);\n  const sessionRenderer = isolatedRenderer?.renderer ?? renderer;\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    if (\n      shouldUseRenderIsolation(captureOptions) !== shouldUseRenderIsolation(options)\n    ) {\n      throw new Error(\n        'Camera frame capture sessions require stable renderIsolation settings.'\n      );\n    }\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 renderCaptureToTarget(\n    captureOptions: CameraFrameCaptureOptions,\n    readback: () => void\n  ) {\n    const previousState = saveRendererState(sessionRenderer);\n    const previousSceneState = applyCaptureVisualOverrides(\n      sessionRenderer,\n      scene,\n      captureOptions\n    );\n    const hidden = [\n      ...hideExcludedCaptureObjects(scene),\n      ...hideCaptureGeomGroups(scene, captureOptions),\n    ];\n\n    runCapturePreRenderHooks(scene);\n    scene.updateMatrixWorld(true);\n    try {\n      sessionRenderer.xr.enabled = false;\n      sessionRenderer.setRenderTarget(target);\n      sessionRenderer.setViewport(0, 0, width, height);\n      sessionRenderer.setScissor(0, 0, width, height);\n      sessionRenderer.setScissorTest(false);\n      if (captureOptions.background !== undefined) {\n        sessionRenderer.setClearColor(\n          new THREE.Color(captureOptions.background),\n          captureOptions.backgroundAlpha ?? previousState.clearAlpha\n        );\n      } else if (captureOptions.backgroundAlpha !== undefined) {\n        sessionRenderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);\n      }\n      sessionRenderer.clear();\n      sessionRenderer.render(scene, camera);\n      readback();\n    } finally {\n      restoreObjectVisibility(hidden);\n      if (previousSceneState) restoreSceneVisualState(scene, previousSceneState);\n      restoreRendererState(sessionRenderer, previousState);\n    }\n  }\n\n  function renderPreparedCapture(captureOptions: CameraFrameCaptureOptions) {\n    renderCaptureToTarget(captureOptions, () => {\n      readRenderTargetToCanvas(\n        sessionRenderer,\n        target,\n        canvas,\n        drawContext,\n        pixels,\n        imageData,\n        width,\n        height,\n        sessionRenderer.outputColorSpace,\n        captureOptions.flipX ?? false\n      );\n    });\n    return {\n      canvas,\n      camera,\n      width,\n      height,\n      source: getCameraFrameCaptureSource(captureOptions),\n    };\n  }\n\n  function capture(nextOptions: CameraFrameCaptureOptions = {}) {\n    return renderPreparedCapture(resolveCaptureOptions(nextOptions));\n  }\n\n  function capturePixels(nextOptions: CameraFrameCaptureOptions = {}): CameraFramePixelsResult {\n    const captureOptions = resolveCaptureOptions(nextOptions);\n    renderCaptureToTarget(captureOptions, () => {\n      sessionRenderer.readRenderTargetPixels(target, 0, 0, width, height, pixels);\n    });\n    return {\n      pixels,\n      camera,\n      width,\n      height,\n      source: getCameraFrameCaptureSource(captureOptions),\n    };\n  }\n\n  function captureTensor(\n    nextOptions: CameraFrameCaptureTensorOptions = {}\n  ): CameraFrameTensorResult {\n    const result = capturePixels(nextOptions);\n    const tensor = pixelsToPolicyImageTensor(pixels, {\n      width,\n      height,\n      channels: nextOptions.channels,\n      layout: nextOptions.layout,\n      range: nextOptions.range,\n      sourceOrigin: 'bottom-left',\n      flipX: nextOptions.flipX,\n    });\n    return { ...tensor, camera, source: result.source };\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(sessionRenderer);\n      const previousSceneState = applyCaptureVisualOverrides(\n        sessionRenderer,\n        scene,\n        captureOptions\n      );\n      const hidden = [\n        ...hideExcludedCaptureObjects(scene),\n        ...hideCaptureGeomGroups(scene, captureOptions),\n      ];\n      try {\n        sessionRenderer.xr.enabled = false;\n        if (captureOptions.background !== undefined) {\n          sessionRenderer.setClearColor(\n            new THREE.Color(captureOptions.background),\n            captureOptions.backgroundAlpha ?? previousState.clearAlpha\n          );\n        } else if (captureOptions.backgroundAlpha !== undefined) {\n          sessionRenderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);\n        }\n        const captureResult = await captureRenderer({\n          renderer: sessionRenderer,\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        if (previousSceneState) restoreSceneVisualState(scene, previousSceneState);\n        restoreRendererState(sessionRenderer, previousState);\n      }\n    }\n    return renderPreparedCapture(captureOptions);\n  }\n\n  return {\n    width,\n    height,\n    capture,\n    captureAsync,\n    capturePixels,\n    captureTensor,\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      if (isolatedRenderer && !isolatedRenderer.cached) {\n        isolatedRenderer.renderer.dispose();\n      }\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/**\n * One-shot camera frame capture straight into a policy image tensor, skipping\n * the canvas/PNG round-trip. For repeated captures (live inference, recording),\n * create a session once with {@link createCameraFrameCaptureSession} and call\n * `session.captureTensor()` so the render target and buffers are reused.\n */\nexport function captureCameraFrameTensor(\n  renderer: THREE.WebGLRenderer,\n  scene: THREE.Scene,\n  fallbackCamera: THREE.Camera,\n  options: CameraFrameCaptureTensorOptions = {}\n): CameraFrameTensorResult {\n  const session = createCameraFrameCaptureSession(\n    renderer,\n    scene,\n    fallbackCamera,\n    options\n  );\n  try {\n    return session.captureTensor(options);\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"]}