mujoco-react 10.9.0 → 11.0.0

package/dist/index.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
-import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, f as MujocoRenderOptions, P as PhysicsStepCallback, g as MujocoModel, h as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, i as ControlGroupSelector, O as ObservationConfig, j as ObservationResult, I as IkConfig, k as IkContextValue, B as BodyProps, l as IkGizmoProps, D as DragInteractionProps, m as SceneLightsProps, n as ScenarioLightingProps, o as SplatEnvironmentProps, V as VisualScenarioEffectsProps, p as VisualScenarioConfig, q as SplatRendererKind, r as PairedSplatEnvironmentConfig, s as SplatFormat, t as SplatCollisionProxyConfig, u as SplatEnvironmentReadiness, v as SplatCollisionPrimitive, w as SplatEnvironmentReadinessStatus, x as SplatSceneConfigInput, y as SplatSceneConfigState, z as VisualScenarioExecutionContextInput, E as VisualScenarioExecutionContext, F as ScenarioLightingPreset, G as SplatEnvironmentMetadataInput, H as SplatEnvironmentMetadata, J as SplatSceneInput, K as CameraFrameCaptureOptions, L as DebugProps, N as GeomInfo, Q as ContactListenerProps, T as TrajectoryPlayerProps, U as ActuatorInfo, W as Sites, X as SitePositionResult, Y as Sensors, Z as SensorHandle, _ as SensorInfo, $ as Joints, a0 as ScalarJointStateResult, a1 as ArrayJointStateResult, a2 as JointStateOptions, a3 as JointStateResult, a4 as Bodies, a5 as BodyStateResult, a6 as Geoms, a7 as Actuators, a8 as CtrlHandle, a9 as ContactInfo, aa as KeyboardTeleopConfig, ab as KeyboardIkTargetConfig, ac as PolicyConfig, ad as PolicyAPI, ae as RemotePolicyConfig, af as RemotePolicyAPI, ag as ObservationHandle, ah as ObservationOutput, ai as TrajectoryInput, aj as TrajectoryStateChangeInput, ak as PlaybackState, al as TrajectoryFrame, am as FrameCaptureOptions, an as FrameCaptureResult, ao as FrameCaptureBlobResult, ap as FrameCaptureAPI, aq as CameraFrameCaptureAPI, ar as Cameras, as as CameraFrameSequenceCamera, at as CameraFrameCaptureSource, au as CameraFrameSequenceOptions, av as CameraFrameSequenceResult, aw as PolicyCameraFrameStream, ax as PolicyCameraFrameCaptureOptions, ay as PolicyCameraFrameCaptureResult, az as FrameCaptureStatus, aA as PolicyCameraFrameCaptureAPI, aB as CameraFrameCaptureTensorOptions, aC as CameraFrameTensorResult, aD as CameraFrameSequenceRecorderAPI, aE as ImagePointCoordinateSpace, aF as ImagePointProjectionOptions, aG as ImagePointProjectionResult, aH as PolicyVector } from './types-Bu8Aki_j.js';
-export { aI as BodyInfo, aJ as CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, aK as CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, aL as CAPTURE_EXCLUDE_KEY, aM as CameraFrameCaptureBlobResult, aN as CameraFrameCaptureQuaternion, aO as CameraFrameCaptureResult, aP as CameraFrameCaptureSession, aQ as CameraFrameCaptureVector3, aR as CameraFramePixelsResult, aS as CameraFrameSequenceCameraSummary, aT as CameraFrameSequenceFrame, aU as CameraFrameSequenceSampleInput, aV as CameraFrameSequenceStepInput, aW as CameraInfo, aX as ControlJointInfo, aY as DebugVirtualCamera, aZ as FrameCaptureTarget, a_ as FrameCaptureTargetRef, a$ as IKSolveFn, b0 as IkGizmoDragInput, b1 as IkSolveInput, b2 as JointInfo, b3 as JointStateKind, b4 as KeyBinding, b5 as KeyboardIkTargetAction, b6 as KeyboardIkTargetBinding, b7 as Keyframes, b8 as ModelActuators, b9 as ModelBodies, ba as ModelCameras, bb as ModelGeoms, bc as ModelJoints, bd as ModelKeyframes, be as ModelOptions, bf as ModelResource, bg as ModelResources, bh as ModelSensors, bi as ModelSites, bj as Models, bk as MujocoContact, bl as MujocoContactArray, bm as MujocoFrameCaptureOptions, bn as ObservationLayoutItem, bo as PhysicsConfig, bp as PhysicsStepInput, bq as PolicyActionChunk, br as PolicyActionInput, bs as PolicyImageTensorLayout, bt as PolicyImageTensorOptions, bu as PolicyImageTensorPixelOptions, bv as PolicyImageTensorRange, bw as PolicyImageTensorResult, bx as PolicyImageTensorSourceOrigin, by as PolicyInferenceInput, bz as PolicyInferenceOutput, bA as PolicyInferenceResult, bB as PolicyObservationInput, bC as RayHit, bD as Register, bE as RegisteredModelMap, bF as RemotePolicyRequestInfo, bG as RemotePolicyRequestInput, bH as RemotePolicyResponseInfo, bI as RemotePolicyStatus, bJ as ResetCallbackInput, bK as ResolvedScenarioCameraConfig, bL as ResolvedScenarioMaterialConfig, bM as ResourceSelector, bN as ScenarioCameraConfig, bO as ScenarioMaterialConfig, bP as SceneMarker, bQ as SceneObject, bR as SensorResult, bS as SiteInfo, bT as SplatAssetConfig, bU as SplatScenarioConfig, bV as StateSnapshot, bW as TrajectoryData, bX as TrajectoryFrameCallbackInput, bY as VisualScenarioMaterialFilterInput, bZ as XmlPatch, b_ as captureCameraFrame, b$ as captureCameraFrameBlob, c0 as captureCameraFrameTensor, c1 as createCameraFrameCaptureSession, c2 as dataUrlToPolicyImageTensor, c3 as getContact, c4 as imageDataToPolicyImageTensor, c5 as pixelsToPolicyImageTensor, c6 as registerModelResources, c7 as renderCameraFrameToCanvas } from './types-Bu8Aki_j.js';
+import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoIntegrator, f as MujocoModule, g as MujocoRenderOptions, P as PhysicsStepCallback, h as MujocoModel, i as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, j as ControlGroupSelector, O as ObservationConfig, k as ObservationResult, I as IkConfig, l as IkContextValue, B as BodyProps, m as IkGizmoProps, D as DragInteractionProps, n as SceneLightsProps, o as ScenarioLightingProps, p as SplatEnvironmentProps, V as VisualScenarioEffectsProps, q as VisualScenarioConfig, r as SplatRendererKind, s as PairedSplatEnvironmentConfig, t as SplatFormat, u as SplatCollisionProxyConfig, v as SplatEnvironmentReadiness, w as SplatCollisionPrimitive, x as SplatEnvironmentReadinessStatus, y as SplatSceneConfigInput, z as SplatSceneConfigState, E as VisualScenarioExecutionContextInput, F as VisualScenarioExecutionContext, G as ScenarioLightingPreset, H as SplatEnvironmentMetadataInput, J as SplatEnvironmentMetadata, K as SplatSceneInput, L as CameraFrameCaptureOptions, N as DebugProps, Q as GeomInfo, T as ContactListenerProps, U as TrajectoryPlayerProps, W as ActuatorInfo, X as Sites, Y as SitePositionResult, Z as Sensors, _ as SensorHandle, $ as SensorInfo, a0 as Joints, a1 as ScalarJointStateResult, a2 as ArrayJointStateResult, a3 as JointStateOptions, a4 as JointStateResult, a5 as Bodies, a6 as BodyStateResult, a7 as Geoms, a8 as Actuators, a9 as CtrlHandle, aa as ContactInfo, ab as KeyboardTeleopConfig, ac as KeyboardIkTargetConfig, ad as PolicyConfig, ae as PolicyAPI, af as RemotePolicyConfig, ag as RemotePolicyAPI, ah as ObservationHandle, ai as ObservationOutput, aj as TrajectoryInput, ak as TrajectoryStateChangeInput, al as PlaybackState, am as TrajectoryFrame, an as FrameCaptureOptions, ao as FrameCaptureResult, ap as FrameCaptureBlobResult, aq as FrameCaptureAPI, ar as CameraFrameCaptureAPI, as as Cameras, at as CameraFrameSequenceCamera, au as CameraFrameCaptureSource, av as CameraFrameSequenceOptions, aw as CameraFrameSequenceResult, ax as PolicyCameraFrameStream, ay as PolicyCameraFrameCaptureOptions, az as PolicyCameraFrameCaptureResult, aA as FrameCaptureStatus, aB as PolicyCameraFrameCaptureAPI, aC as CameraFrameCaptureTensorOptions, aD as CameraFrameTensorResult, aE as CameraFrameSequenceRecorderAPI, aF as ImagePointCoordinateSpace, aG as ImagePointProjectionOptions, aH as ImagePointProjectionResult, aI as PolicyVector } from './types-BP8iiYei.js';
+export { aJ as ActuatorControlValue, aK as BodyInfo, aL as CAMERA_FRAME_CAPTURE_PRE_RENDER_USER_DATA_KEY, aM as CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY, aN as CAPTURE_EXCLUDE_KEY, aO as CameraFrameCaptureBlobResult, aP as CameraFrameCaptureQuaternion, aQ as CameraFrameCaptureResult, aR as CameraFrameCaptureSession, aS as CameraFrameCaptureVector3, aT as CameraFramePixelsResult, aU as CameraFrameSequenceCameraSummary, aV as CameraFrameSequenceFrame, aW as CameraFrameSequenceSampleInput, aX as CameraFrameSequenceStepInput, aY as CameraInfo, aZ as ControlJointInfo, a_ as DebugVirtualCamera, a$ as FrameCaptureTarget, b0 as FrameCaptureTargetRef, b1 as IKSolveFn, b2 as IkGizmoDragInput, b3 as IkSolveInput, b4 as JointInfo, b5 as JointStateKind, b6 as KeyBinding, b7 as KeyboardIkTargetAction, b8 as KeyboardIkTargetBinding, b9 as Keyframes, ba as ModelActuators, bb as ModelBodies, bc as ModelCameras, bd as ModelGeoms, be as ModelJoints, bf as ModelKeyframes, bg as ModelOptions, bh as ModelResource, bi as ModelResources, bj as ModelSensors, bk as ModelSites, bl as Models, bm as MujocoContact, bn as MujocoContactArray, bo as MujocoFrameCaptureOptions, bp as ObservationLayoutItem, bq as PhysicsConfig, br as PhysicsStepInput, bs as PolicyActionChunk, bt as PolicyActionInput, bu as PolicyImageTensorLayout, bv as PolicyImageTensorOptions, bw as PolicyImageTensorPixelOptions, bx as PolicyImageTensorRange, by as PolicyImageTensorResult, bz as PolicyImageTensorSourceOrigin, bA as PolicyInferenceInput, bB as PolicyInferenceOutput, bC as PolicyInferenceResult, bD as PolicyObservationInput, bE as RayHit, bF as Register, bG as RegisteredModelMap, bH as RemotePolicyRequestInfo, bI as RemotePolicyRequestInput, bJ as RemotePolicyResponseInfo, bK as RemotePolicyStatus, bL as ResetCallbackInput, bM as ResolvedScenarioCameraConfig, bN as ResolvedScenarioMaterialConfig, bO as ResourceSelector, bP as ScenarioCameraConfig, bQ as ScenarioMaterialConfig, bR as SceneMarker, bS as SceneObject, bT as SensorResult, bU as SiteInfo, bV as SplatAssetConfig, bW as SplatScenarioConfig, bX as StateSnapshot, bY as TrajectoryData, bZ as TrajectoryFrameCallbackInput, b_ as VisualScenarioMaterialFilterInput, b$ as XmlPatch, c0 as captureCameraFrame, c1 as captureCameraFrameBlob, c2 as captureCameraFrameTensor, c3 as createCameraFrameCaptureSession, c4 as dataUrlToPolicyImageTensor, c5 as getContact, c6 as imageDataToPolicyImageTensor, c7 as pixelsToPolicyImageTensor, c8 as registerModelResources, c9 as renderCameraFrameToCanvas } from './types-BP8iiYei.js';
 import * as React$1 from 'react';
 import { CSSProperties, RefObject } from 'react';
 import * as THREE from 'three';
@@ -32,6 +32,8 @@ interface MujocoProviderProps {
      * uses threaded only when both conditions are satisfied.
      */
     wasmVariant?: MujocoWasmVariant;
+    /** Physics worker count. Requires the threaded build; defaults to 0 (no pool). */
+    threadCount?: number;
     /** Timeout in ms for WASM module load. Default: 30000. */
     timeout?: number;
     children: React.ReactNode;
@@ -41,7 +43,7 @@ interface MujocoProviderProps {
  * MujocoProvider — WASM / module lifecycle.
  * Loads the MuJoCo WASM module on mount and provides it to children via context.
  */
-declare function MujocoProvider({ wasmUrl, mtWasmUrl, threadedLoader, wasmVariant, timeout, children, onError, }: MujocoProviderProps): react_jsx_runtime.JSX.Element;
+declare function MujocoProvider({ wasmUrl, mtWasmUrl, threadedLoader, wasmVariant, threadCount, timeout, children, onError, }: MujocoProviderProps): react_jsx_runtime.JSX.Element;
 
 /**
  * MujocoCanvas — thin R3F Canvas wrapper for MuJoCo scenes.
@@ -67,6 +69,8 @@ interface MujocoPhysicsProps {
     gravity?: [number, number, number];
     /** Override model.opt.timestep. */
     timestep?: number;
+    /** Override the integrator; omit to preserve the model setting. */
+    integrator?: MujocoIntegrator;
     /** mj_step calls per frame. */
     substeps?: number;
     /** Declarative pause. */
@@ -139,6 +143,7 @@ interface MujocoSimProviderProps {
     onSelection?: (input: SelectionCallbackInput) => void;
     gravity?: [number, number, number];
     timestep?: number;
+    integrator?: MujocoIntegrator;
     substeps?: number;
     paused?: boolean;
     speed?: number;
@@ -147,7 +152,7 @@ interface MujocoSimProviderProps {
     hiddenBodies?: readonly string[];
     children: React.ReactNode;
 }
-declare function MujocoSimProvider({ mujoco, config, apiRef: externalApiRef, onReady, onError, onStep, onSelection, gravity, timestep, substeps, paused, speed, interpolate, renderOptions, hiddenBodies, children, }: MujocoSimProviderProps): react_jsx_runtime.JSX.Element;
+declare function MujocoSimProvider({ mujoco, config, apiRef: externalApiRef, onReady, onError, onStep, onSelection, gravity, timestep, integrator, substeps, paused, speed, interpolate, renderOptions, hiddenBodies, children, }: MujocoSimProviderProps): react_jsx_runtime.JSX.Element;
 
 /**
  * @license
@@ -308,6 +313,7 @@ interface GenericIKOptions {
     maxIterations: number;
     damping: number;
     tolerance: number;
+    /** @deprecated Analytic Jacobians do not require perturbations. */
     epsilon: number;
     posWeight: number;
     rotWeight: number;
@@ -315,27 +321,19 @@ interface GenericIKOptions {
     maxStepRad: number;
     jointLimits?: ReadonlyArray<readonly [number, number] | null | undefined>;
 }
-/**
- * Generic Damped Least-Squares IK solver.
- * Uses finite-difference Jacobian via MuJoCo's mj_forward.
- * Works for any MuJoCo model — no robot-specific parameters.
- */
+/** Analytic damped least-squares IK in MuJoCo velocity coordinates. */
 declare class GenericIK {
     private mujoco;
     constructor(mujoco: MujocoModule);
+    /** Scalar hinge/slide interface. Returns values in qposAdr order. */
+    solve(model: MujocoModel, data: MujocoData, siteId: number, qposAdr: ArrayLike<number>, targetPos: Pick<THREE.Vector3, 'x' | 'y' | 'z'>, targetQuat: Pick<THREE.Quaternion, 'x' | 'y' | 'z' | 'w'>, currentQ: ArrayLike<number>, opts?: Partial<GenericIKOptions>): number[] | null;
     /**
-     * Solve IK for a target 6-DOF pose.
-     * @param model       MuJoCo model
-     * @param data        MuJoCo data (qpos will be temporarily modified, then restored)
-     * @param siteId      Index of the end-effector site to control
-     * @param qposAdr     qpos addresses for scalar joints in solve order
-     * @param targetPos   Target position in world frame
-     * @param targetQuat  Target orientation in world frame
-     * @param currentQ    Current joint angles matching qposAdr order
-     * @param opts        Optional solver parameters
-     * @returns Joint angles array, or null if solver diverged
+     * Solve selected joint IDs, including ball/free joints. Initial and returned
+     * configurations have model.nq entries, with MuJoCo wxyz quaternions.
+     * Jacobian columns use nv/dof addresses; mj_integratePos updates quaternions.
+     * The caller's qpos is restored even if the solve throws.
      */
-    solve(model: MujocoModel, data: MujocoData, siteId: number, qposAdr: ArrayLike<number>, targetPos: THREE.Vector3, targetQuat: THREE.Quaternion, currentQ: ArrayLike<number>, opts?: Partial<GenericIKOptions>): number[] | null;
+    solveJoints(model: MujocoModel, data: MujocoData, siteId: number, jointIds: ArrayLike<number>, targetPos: Pick<THREE.Vector3, 'x' | 'y' | 'z'>, targetQuat: Pick<THREE.Quaternion, 'x' | 'y' | 'z' | 'w'>, currentQpos?: ArrayLike<number>, opts?: Partial<GenericIKOptions>): number[] | null;
 }
 
 /**
@@ -639,7 +637,7 @@ declare function TrajectoryPlayer({ trajectory, fps, speed, loop, playing, mode,
 
 /**
  * Returns a stable array of actuator metadata for building control UIs.
- * Computed once when the model loads. Consumer reads/writes data.ctrl[id] directly.
+ * Computed once when the model loads. Use ctrlAdr and ctrlCount to address controls.
  */
 declare function useActuators(): ActuatorInfo[];
 
@@ -753,7 +751,7 @@ declare function useSitePose(name: Sites): PoseReadout;
  * Returns a `CtrlHandle` with `read()` and `write()` methods that
  * operate directly on `data.ctrl` without causing React re-renders.
  */
-declare function useCtrl(name: Actuators): CtrlHandle;
+declare function useCtrl(name: Actuators, input?: number): CtrlHandle;
 
 /**
  * @license
@@ -1634,4 +1632,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { ActuatedJointInfo, ActuatorInfo, Actuators, type ApplyPolicyActionToControlsOptions, type ApplyPolicyActionToControlsResult, ArrayJointStateResult, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureOptions, CameraFrameCaptureSource, CameraFrameCaptureTensorOptions, type CameraFrameMountSelector, CameraFrameSequenceCamera, CameraFrameSequenceOptions, CameraFrameSequenceRecorderAPI, CameraFrameSequenceResult, CameraFrameTensorResult, type CameraStreamOptions, CameraView, type CameraViewProps, type CameraViewportOptions, Cameras, type ContactHistoryEntry, type ContactHistoryHandle, type ContactHistoryOptions, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, type ControlGroup, type ControlGroupHandle, ControlGroupInfo, ControlGroupSelector, type ControlGroupSetOptions, type ControlWriterConflict, type ControlWriterHandle, type ControlWriterOptions, type ControlWriterWriteOptions, type ControllerComponent, type ControllerOptions, type ControlsHandle, type CreateMountedCameraFrameSequenceManifestOptions, type CreateMountedCameraFrameSequencePlanOptions, type CreatePolicyCameraFrameCapturePlanOptions, CtrlHandle, Debug, DebugProps, type DefinedControls, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, FrameCaptureStatus, GenericIK, type GenericIKOptions, GeomInfo, Geoms, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, ImagePointCoordinateSpace, ImagePointProjectionOptions, ImagePointProjectionResult, InstancedGeomRenderer, JointStateOptions, JointStateResult, Joints, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, type MountedPolicyCameraFrameCaptureAPI, type MountedPolicyCameraFrameCaptureOptions, type MountedPolicyCameraTensorOptions, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, type NamedCameraFrameResource, type NamedObservationField, type NamedObservationHandle, type NamedObservationInput, type NamedObservationLayoutItem, type NamedObservationMissing, type NamedObservationOptions, type NamedObservationResult, ObservationConfig, ObservationHandle, ObservationOutput, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyAPI, PolicyCameraFrameCaptureAPI, PolicyCameraFrameCaptureOptions, type PolicyCameraFrameCapturePlan, PolicyCameraFrameCaptureResult, type PolicyCameraFrameCaptureTarget, type PolicyCameraFramePlanTarget, PolicyCameraFrameStream, type PolicyCameraFrameStreamOptions, type PolicyCameraTensorStream, type PolicyCameraTensorsAPI, type PolicyCameraTensorsOptions, type PolicyCameraTensorsResult, PolicyConfig, PolicyVector, type PoseReadout, type PoseResourceKind, ReadyCallbackInput, RemotePolicyAPI, RemotePolicyConfig, type ResolveMountedCameraFrameSourceOptions, type ResolvedMountedCameraFrameSource, ScalarJointStateResult, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, type SplatCollisionProxyGeomPreview, type SplatCollisionProxyGeomsState, SplatCollisionProxyPreview, type SplatCollisionProxyPreviewProps, type SplatCollisionProxyPreviewStatus, type SplatCollisionProxyPreviewVector3, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatEnvironmentReadiness, SplatEnvironmentReadinessStatus, SplatFormat, SplatRendererKind, SplatSceneConfigInput, SplatSceneConfigState, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, type UseControlGroupOptions, type UseSplatCollisionProxyGeomsOptions, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, VisualScenarioExecutionContext, VisualScenarioExecutionContextInput, applyPolicyActionToControls, bodyPositionField, buildObservation, canFetchSplatCollisionProxyXml, captureFrame, captureFrameBlob, capturePolicyCameraFrames, capturePolicyCameraFramesFromMountedStreams, clampPolicyActionValue, controlGroup, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createNamedObservationBuilder, createPairedSplatEnvironment, createPolicyCameraFrameCapturePlan, createPolicyCameraFrameCapturePlanFromApi, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, ctrlField, defineControls, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, geomPositionField, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, imagePointToNdc, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, projectImagePointTo3D, qposField, qvelField, readNamedObservation, recordMountedCameraFrameSequence, resolveControlGroup, resolveMountedCameraFrameSource, sitePositionField, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyPose, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, useCameraStream, useCameraViewport, useContactEvents, useContactHistory, useContacts, useControlGroup, useControlWriter, useControls, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGeomPose, useGravityCompensation, useIkController, useJointState, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useNamedObservation, useObservation, usePolicy, usePolicyCameraFrames, usePolicyCameraFramesFromMountedStreams, usePolicyCameraTensors, usePolicyCameraTensorsFromMountedStreams, useRemotePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePose, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };
+export { ActuatedJointInfo, ActuatorInfo, Actuators, type ApplyPolicyActionToControlsOptions, type ApplyPolicyActionToControlsResult, ArrayJointStateResult, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureOptions, CameraFrameCaptureSource, CameraFrameCaptureTensorOptions, type CameraFrameMountSelector, CameraFrameSequenceCamera, CameraFrameSequenceOptions, CameraFrameSequenceRecorderAPI, CameraFrameSequenceResult, CameraFrameTensorResult, type CameraStreamOptions, CameraView, type CameraViewProps, type CameraViewportOptions, Cameras, type ContactHistoryEntry, type ContactHistoryHandle, type ContactHistoryOptions, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, type ControlGroup, type ControlGroupHandle, ControlGroupInfo, ControlGroupSelector, type ControlGroupSetOptions, type ControlWriterConflict, type ControlWriterHandle, type ControlWriterOptions, type ControlWriterWriteOptions, type ControllerComponent, type ControllerOptions, type ControlsHandle, type CreateMountedCameraFrameSequenceManifestOptions, type CreateMountedCameraFrameSequencePlanOptions, type CreatePolicyCameraFrameCapturePlanOptions, CtrlHandle, Debug, DebugProps, type DefinedControls, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, FrameCaptureStatus, GenericIK, type GenericIKOptions, GeomInfo, Geoms, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, ImagePointCoordinateSpace, ImagePointProjectionOptions, ImagePointProjectionResult, InstancedGeomRenderer, JointStateOptions, JointStateResult, Joints, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, type MountedPolicyCameraFrameCaptureAPI, type MountedPolicyCameraFrameCaptureOptions, type MountedPolicyCameraTensorOptions, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, MujocoIntegrator, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, type NamedCameraFrameResource, type NamedObservationField, type NamedObservationHandle, type NamedObservationInput, type NamedObservationLayoutItem, type NamedObservationMissing, type NamedObservationOptions, type NamedObservationResult, ObservationConfig, ObservationHandle, ObservationOutput, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyAPI, PolicyCameraFrameCaptureAPI, PolicyCameraFrameCaptureOptions, type PolicyCameraFrameCapturePlan, PolicyCameraFrameCaptureResult, type PolicyCameraFrameCaptureTarget, type PolicyCameraFramePlanTarget, PolicyCameraFrameStream, type PolicyCameraFrameStreamOptions, type PolicyCameraTensorStream, type PolicyCameraTensorsAPI, type PolicyCameraTensorsOptions, type PolicyCameraTensorsResult, PolicyConfig, PolicyVector, type PoseReadout, type PoseResourceKind, ReadyCallbackInput, RemotePolicyAPI, RemotePolicyConfig, type ResolveMountedCameraFrameSourceOptions, type ResolvedMountedCameraFrameSource, ScalarJointStateResult, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, type SplatCollisionProxyGeomPreview, type SplatCollisionProxyGeomsState, SplatCollisionProxyPreview, type SplatCollisionProxyPreviewProps, type SplatCollisionProxyPreviewStatus, type SplatCollisionProxyPreviewVector3, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatEnvironmentReadiness, SplatEnvironmentReadinessStatus, SplatFormat, SplatRendererKind, SplatSceneConfigInput, SplatSceneConfigState, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, type UseControlGroupOptions, type UseSplatCollisionProxyGeomsOptions, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, VisualScenarioExecutionContext, VisualScenarioExecutionContextInput, applyPolicyActionToControls, bodyPositionField, buildObservation, canFetchSplatCollisionProxyXml, captureFrame, captureFrameBlob, capturePolicyCameraFrames, capturePolicyCameraFramesFromMountedStreams, clampPolicyActionValue, controlGroup, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createNamedObservationBuilder, createPairedSplatEnvironment, createPolicyCameraFrameCapturePlan, createPolicyCameraFrameCapturePlanFromApi, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, ctrlField, defineControls, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, geomPositionField, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, imagePointToNdc, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, projectImagePointTo3D, qposField, qvelField, readNamedObservation, recordMountedCameraFrameSequence, resolveControlGroup, resolveMountedCameraFrameSource, sitePositionField, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyPose, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, useCameraStream, useCameraViewport, useContactEvents, useContactHistory, useContacts, useControlGroup, useControlWriter, useControls, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGeomPose, useGravityCompensation, useIkController, useJointState, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useNamedObservation, useObservation, usePolicy, usePolicyCameraFrames, usePolicyCameraFramesFromMountedStreams, usePolicyCameraTensors, usePolicyCameraTensorsFromMountedStreams, useRemotePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePose, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };