mujoco-react 8.10.0 → 9.0.0

package/dist/chunk-33CV6HSV.js.map

@@ -0,0 +1 @@
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* @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 type {\n  PairedSplatEnvironmentConfig,\n  ScenarioMaterialConfig,\n  SceneConfig,\n  SplatCollisionProxyConfig,\n  SplatEnvironmentMetadata,\n  SplatEnvironmentMetadataInput,\n  SplatFormat,\n  SplatRendererKind,\n  SplatSceneInput,\n  ScenarioLightingPreset,\n  ScenarioLightingProps,\n  SplatEnvironmentProps,\n  VisualScenarioConfig,\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 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\n  return useMemo(\n    () => ({\n      src: resolvedSrc,\n      format: resolvedFormat,\n      collisionProxy: resolvedCollisionProxy,\n      userData: createSplatEnvironmentUserData({\n        environment: scenarioEnvironment,\n        src: resolvedSrc,\n        format: resolvedFormat,\n        collisionProxy: resolvedCollisionProxy,\n      }),\n    }),\n    [scenarioEnvironment, resolvedSrc, resolvedFormat, resolvedCollisionProxy]\n  );\n}\n\n/**\n * Convert a generic visual scenario splat block into a paired visual/physics\n * environment config. Returns undefined until both the splat asset and MJCF\n * collision proxy are present.\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 || !collisionProxy?.xmlPath) {\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: {\n      ...collisionProxy,\n      xmlPath: collisionProxy.xmlPath,\n    },\n  };\n}\n\nfunction isPairedSplatEnvironment(input: SplatSceneInput): input is PairedSplatEnvironmentConfig {\n  return !!input && 'collisionProxy' in input && 'splat' in input;\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}: {\n  environment?: PairedSplatEnvironmentConfig;\n  src?: string;\n  format?: SplatFormat;\n  collisionProxy?: SplatCollisionProxyConfig;\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  };\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"]}

package/dist/index.d.ts

@@ -1,7 +1,8 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
-import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, c as MujocoModule, P as PhysicsStepCallback, d as MujocoModel, e as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, f as ControlGroupSelector, O as ObservationConfig, g as ObservationResult, I as IkConfig, h as IkContextValue, B as BodyProps, i as IkGizmoProps, D as DragInteractionProps, j as SceneLightsProps, k as ScenarioLightingProps, l as SplatEnvironmentProps, m as PairedSplatEnvironmentConfig, n as SplatFormat, o as SplatCollisionProxyConfig, p as SplatRendererKind, q as SplatCollisionPrimitive, r as ScenarioLightingPreset, V as VisualScenarioConfig, s as SplatEnvironmentMetadataInput, t as SplatEnvironmentMetadata, u as DebugProps, G as GeomInfo, v as ContactListenerProps, T as TrajectoryPlayerProps, w as ActuatorInfo, x as Sites, y as SitePositionResult, z as Sensors, E as SensorHandle, F as SensorInfo, J as Joints, H as JointStateResult, K as Bodies, L as BodyStateResult, N as Actuators, Q as CtrlHandle, R as ContactInfo, U as KeyboardTeleopConfig, W as PolicyConfig, X as ObservationHandle, Y as TrajectoryInput, Z as PlaybackState, _ as TrajectoryFrame } from './types-FFW7ykBu.js';
-export { $ as BodyInfo, a0 as ControlJointInfo, a1 as Geoms, a2 as IKSolveFn, a3 as JointInfo, a4 as KeyBinding, a5 as Keyframes, a6 as ModelOptions, a7 as MujocoContact, a8 as MujocoContactArray, a9 as ObservationLayoutItem, aa as ObservationOutput, ab as PhysicsConfig, ac as RayHit, ad as Register, ae as RegisteredRobotMap, af as ResourceSelector, ag as RobotActuators, ah as RobotBodies, ai as RobotGeoms, aj as RobotJoints, ak as RobotKeyframes, al as RobotResource, am as RobotResources, an as RobotSensors, ao as RobotSites, ap as Robots, aq as ScenarioCameraConfig, ar as SceneMarker, as as SceneObject, at as SensorResult, au as SiteInfo, av as SplatAssetConfig, aw as SplatScenarioConfig, ax as StateSnapshot, ay as TrajectoryData, az as XmlPatch, aA as getContact, aB as registerRobotResources } from './types-FFW7ykBu.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 MujocoModule, P as PhysicsStepCallback, f as MujocoModel, g as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, h as ControlGroupSelector, O as ObservationConfig, i as ObservationResult, I as IkConfig, j as IkContextValue, B as BodyProps, k as IkGizmoProps, D as DragInteractionProps, l as SceneLightsProps, m as ScenarioLightingProps, n as SplatEnvironmentProps, V as VisualScenarioEffectsProps, o as VisualScenarioConfig, p as SplatRendererKind, q as PairedSplatEnvironmentConfig, r as SplatFormat, s as SplatCollisionProxyConfig, t as SplatCollisionPrimitive, u as ScenarioLightingPreset, v as SplatEnvironmentMetadataInput, w as SplatEnvironmentMetadata, x as SplatSceneInput, y as DebugProps, G as GeomInfo, z as ContactListenerProps, T as TrajectoryPlayerProps, E as ActuatorInfo, F as Sites, H as SitePositionResult, J as Sensors, K as SensorHandle, L as SensorInfo, N as Joints, Q as JointStateResult, U as Bodies, W as BodyStateResult, X as Actuators, Y as CtrlHandle, Z as ContactInfo, _ as KeyboardTeleopConfig, $ as PolicyConfig, a0 as PolicyVector, a1 as ObservationHandle, a2 as TrajectoryInput, a3 as TrajectoryStateChangeInput, a4 as PlaybackState, a5 as TrajectoryFrame } from './types-izZlUweI.js';
+export { a6 as BodyInfo, a7 as ControlJointInfo, a8 as Geoms, a9 as IKSolveFn, aa as IkGizmoDragInput, ab as IkSolveInput, ac as JointInfo, ad as KeyBinding, ae as Keyframes, af as ModelOptions, ag as MujocoContact, ah as MujocoContactArray, ai as ObservationLayoutItem, aj as ObservationOutput, ak as PhysicsConfig, al as PhysicsStepInput, am as PolicyActionInput, an as PolicyInferenceInput, ao as PolicyObservationInput, ap as RayHit, aq as Register, ar as RegisteredRobotMap, as as ResetCallbackInput, at as ResourceSelector, au as RobotActuators, av as RobotBodies, aw as RobotGeoms, ax as RobotJoints, ay as RobotKeyframes, az as RobotResource, aA as RobotResources, aB as RobotSensors, aC as RobotSites, aD as Robots, aE as ScenarioCameraConfig, aF as ScenarioMaterialConfig, aG as SceneMarker, aH as SceneObject, aI as SensorResult, aJ as SiteInfo, aK as SplatAssetConfig, aL as SplatScenarioConfig, aM as StateSnapshot, aN as TrajectoryData, aO as TrajectoryFrameCallbackInput, aP as VisualScenarioMaterialFilterInput, aQ as XmlPatch, aR as getContact, aS as registerRobotResources } from './types-izZlUweI.js';
 import * as React$1 from 'react';
+import React__default from 'react';
 import { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
 
@@ -55,13 +56,13 @@ interface MujocoPhysicsProps {
     /** Scene/robot configuration. */
     config: SceneConfig;
     /** Fires when model is loaded and API is ready. */
-    onReady?: (api: MujocoSimAPI) => void;
+    onReady?: (input: ReadyCallbackInput) => void;
     /** Fires on scene load failure. */
     onError?: (error: Error) => void;
     /** Called each physics step. */
-    onStep?: (time: number) => void;
+    onStep?: (input: StepCallbackInput) => void;
     /** Called on body double-click selection. */
-    onSelection?: (bodyId: number, name: string) => void;
+    onSelection?: (input: SelectionCallbackInput) => void;
     /** Override model gravity. */
     gravity?: [number, number, number];
     /** Override model.opt.timestep. */
@@ -132,10 +133,10 @@ interface MujocoSimProviderProps {
     mujoco: MujocoModule;
     config: SceneConfig;
     apiRef?: React.ForwardedRef<MujocoSimAPI>;
-    onReady?: (api: MujocoSimAPI) => void;
+    onReady?: (input: ReadyCallbackInput) => void;
     onError?: (error: Error) => void;
-    onStep?: (time: number) => void;
-    onSelection?: (bodyId: number, name: string) => void;
+    onStep?: (input: StepCallbackInput) => void;
+    onSelection?: (input: SelectionCallbackInput) => void;
     gravity?: [number, number, number];
     timestep?: number;
     substeps?: number;
@@ -242,7 +243,7 @@ type ControllerComponent<TConfig> = React.FC<{
  * const MyController = createController<{ speed: number }>(
  *   { name: 'my-controller', defaultConfig: { speed: 1.0 } },
  *   function MyControllerImpl({ config }) {
- *     useBeforePhysicsStep((_model, data) => {
+ *     useBeforePhysicsStep(({ data }) => {
  *       data.ctrl[0] = config.speed;
  *     });
  *     return null;
@@ -269,7 +270,7 @@ declare function createController<TConfig>(options: ControllerOptions<TConfig>,
  *   { name: 'useMyController', defaultConfig: { gain: 1.0 } },
  *   function useMyControllerImpl(config) {
  *     // config is MyConfig | null — hooks must be called unconditionally
- *     useBeforePhysicsStep((_model, data) => {
+ *     useBeforePhysicsStep(({ data }) => {
  *       if (!config) return;
  *       data.ctrl[0] = config.gain * Math.sin(data.time);
  *     });
@@ -300,7 +301,7 @@ declare const useIkController: (config: IkConfig | null) => IkContextValue | nul
  * runs before the provider's loadScene useEffect). Bodies added/removed after
  * the initial load trigger a debounced scene reload.
  */
-declare function Body({ name, type, size, position, rgba, mass, freejoint, friction, solref, solimp, condim, children, }: BodyProps): react_jsx_runtime.JSX.Element | null;
+declare function Body({ name, type, size, position, rgba, mass, freejoint, friction, solref, solimp, condim, group, children, }: BodyProps): react_jsx_runtime.JSX.Element | null;
 
 /**
  * IkGizmo — drei PivotControls that tracks a MuJoCo site.
@@ -311,7 +312,7 @@ declare function Body({ name, type, size, position, rgba, mass, freejoint, frict
  * - `controller` — IkContextValue from `useIkController()`.
  * - `siteName` — MuJoCo site to track. Defaults to the controller's configured site.
  * - `scale` — Gizmo handle scale. Default: 0.18.
- * - `onDrag` — Custom drag callback `(pos, quat) => void`.
+ * - `onDrag` — Custom drag callback `({ position, quaternion }) => void`.
  *   When omitted, dragging enables IK and writes to the IK target.
  *   When provided, the consumer handles what happens during drag.
  */
@@ -363,6 +364,8 @@ declare function SceneLights({ intensity }: SceneLightsProps): null;
 declare function ScenarioLighting({ preset, castShadow, intensity, }: ScenarioLightingProps): react_jsx_runtime.JSX.Element;
 declare function getScenarioBackground(preset: ScenarioLightingPreset | undefined, fallback?: string): string;
 declare function getScenarioCameraPosition(basePosition: readonly [number, number, number], scenario?: Pick<VisualScenarioConfig, 'camera'>): [number, number, number];
+declare function VisualScenarioEffects(props: VisualScenarioEffectsProps): null;
+declare function useVisualScenarioEffects({ scenario, enabled, applyBackground, applyFog, applyRenderer, applyMaterials, background, fogNear, fogFar, materialFilter, }: VisualScenarioEffectsProps): void;
 /**
  * Renderer-agnostic Gaussian splat environment boundary.
  *
@@ -370,8 +373,29 @@ declare function getScenarioCameraPosition(basePosition: readonly [number, numbe
  * Spark/GaussianSplats3D object as `children` once the app chooses a renderer,
  * and pass MuJoCo/MJCF collision proxy visuals via `collisionProxy`.
  */
-declare function SplatEnvironment({ environment, src, format, collisionProxy, collisionProxyMetadata, children, showPlaceholder, ...groupProps }: SplatEnvironmentProps): react_jsx_runtime.JSX.Element;
-declare function useSplatEnvironment({ environment, src, format, collisionProxy, }: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata;
+declare function SplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, children, showPlaceholder, ...groupProps }: SplatEnvironmentProps): react_jsx_runtime.JSX.Element;
+declare function useSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, }: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata;
+/**
+ * Convert a generic visual scenario splat block into a paired visual/physics
+ * environment config. Returns undefined until both the splat asset and MJCF
+ * collision proxy are present.
+ */
+declare function createPairedSplatEnvironment(scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>, options?: {
+    id?: string;
+    label?: string;
+    description?: string;
+    renderer?: SplatRendererKind;
+}): PairedSplatEnvironmentConfig | undefined;
+/**
+ * Compose a MuJoCo scene config with a paired splat collision proxy.
+ *
+ * This keeps the common hybrid setup declarative:
+ * robot XML remains `sceneFile`, the `.spz` remains a visual-only layer, and
+ * the paired MJCF collision proxy is added to `environmentFiles`.
+ */
+declare function withSplatEnvironment(sceneConfig: SceneConfig, input: SplatSceneInput, options?: {
+    renderer?: SplatRendererKind;
+}): SceneConfig;
 declare function createSplatEnvironmentUserData({ environment, src, format, collisionProxy, }: {
     environment?: PairedSplatEnvironmentConfig;
     src?: string;
@@ -587,13 +611,6 @@ declare function useContactEvents(bodyName: Bodies, handlers: {
  */
 declare function useKeyboardTeleop(config: KeyboardTeleopConfig): void;
 
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * usePolicy — policy decimation loop hook (spec 10.1)
- */
-
 /**
  * Framework-agnostic policy execution hook.
  *
@@ -608,7 +625,8 @@ declare function usePolicy(config: PolicyConfig): {
     readonly isRunning: boolean;
     start: () => void;
     stop: () => void;
-    readonly lastObservation: Float64Array<ArrayBufferLike> | Float32Array<ArrayBufferLike> | number[] | null;
+    readonly lastObservation: PolicyVector | null;
+    readonly lastAction: Float64Array<ArrayBufferLike> | Float32Array<ArrayBufferLike> | number[] | null;
 };
 
 /**
@@ -637,7 +655,7 @@ interface TrajectoryPlayerOptions {
     loop?: boolean;
     mode?: 'kinematic' | 'physics';
     onComplete?: () => void;
-    onStateChange?: (state: PlaybackState) => void;
+    onStateChange?: (input: TrajectoryStateChangeInput) => void;
 }
 /**
  * Play back a trajectory, overriding simulation state.
@@ -733,6 +751,56 @@ declare function useVideoRecorder(options?: VideoRecorderOptions): {
     readonly recording: boolean;
 };
 
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * useFrameCapture — still-frame capture for canvas-backed MuJoCo/R3F scenes.
+ */
+
+type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';
+type FrameCaptureTarget = HTMLCanvasElement | HTMLElement | null | undefined;
+type FrameCaptureTargetRef = React__default.RefObject<HTMLCanvasElement | HTMLElement | null>;
+interface FrameCaptureOptions {
+    target?: FrameCaptureTarget | FrameCaptureTargetRef;
+    type?: string;
+    quality?: number;
+    waitForAnimationFrame?: boolean;
+}
+interface FrameCaptureResult {
+    canvas: HTMLCanvasElement;
+    dataUrl: string;
+    type: string;
+}
+interface FrameCaptureBlobResult {
+    canvas: HTMLCanvasElement;
+    blob: Blob;
+    type: string;
+}
+interface FrameCaptureAPI {
+    status: FrameCaptureStatus;
+    error: Error | null;
+    isCapturing: boolean;
+    capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;
+    captureBlob: (options?: FrameCaptureOptions) => Promise<FrameCaptureBlobResult>;
+    reset: () => void;
+}
+/**
+ * Capture the current canvas frame as a data URL.
+ *
+ * For WebGL scenes, create the renderer with `preserveDrawingBuffer: true`
+ * when you need deterministic captures after the frame has presented.
+ */
+declare function captureFrame(options: FrameCaptureOptions): Promise<FrameCaptureResult>;
+/**
+ * Capture the current canvas frame as a Blob.
+ */
+declare function captureFrameBlob(options: FrameCaptureOptions): Promise<FrameCaptureBlobResult>;
+/**
+ * React state wrapper around `captureFrame` and `captureFrameBlob`.
+ */
+declare function useFrameCapture(defaultOptions?: FrameCaptureOptions): FrameCaptureAPI;
+
 /**
  * @license
  * SPDX-License-Identifier: Apache-2.0
@@ -828,4 +896,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateResult, Joints, KeyboardTeleopConfig, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatFormat, SplatRendererKind, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, VisualScenarioConfig, buildObservation, createContiguousControlGroup, createController, createControllerHook, createSparkSplatViewerUrl, createSplatEnvironmentUserData, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getControlMap, getName, getScenarioBackground, getScenarioCameraPosition, loadScene, resolveControlGroup, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatEnvironment, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, type FrameCaptureAPI, type FrameCaptureBlobResult, type FrameCaptureOptions, type FrameCaptureResult, type FrameCaptureStatus, type FrameCaptureTarget, type FrameCaptureTargetRef, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateResult, Joints, KeyboardTeleopConfig, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, PolicyVector, ReadyCallbackInput, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatFormat, SplatRendererKind, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, buildObservation, captureFrame, captureFrameBlob, createContiguousControlGroup, createController, createControllerHook, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getControlMap, getName, getScenarioBackground, getScenarioCameraPosition, loadScene, resolveControlGroup, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatEnvironment, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, withSplatEnvironment };