mujoco-react 9.2.0 → 9.4.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (26) hide show
  1. package/README.md +225 -15
  2. package/dist/{chunk-33CV6HSV.js → chunk-VDSEPZYQ.js} +303 -14
  3. package/dist/chunk-VDSEPZYQ.js.map +1 -0
  4. package/dist/index.d.ts +274 -7
  5. package/dist/index.js +1172 -131
  6. package/dist/index.js.map +1 -1
  7. package/dist/spark.d.ts +24 -2
  8. package/dist/spark.js +89 -3
  9. package/dist/spark.js.map +1 -1
  10. package/dist/{types-S8ggQY2n.d.ts → types-BuJ4boaq.d.ts} +160 -5
  11. package/dist/vite.d.ts +1 -1
  12. package/dist/vite.js +14 -7
  13. package/dist/vite.js.map +1 -1
  14. package/package.json +1 -1
  15. package/src/components/SplatCollisionProxyPreview.tsx +350 -0
  16. package/src/components/VisualScenario.tsx +287 -11
  17. package/src/core/MujocoSimProvider.tsx +374 -30
  18. package/src/core/SceneLoader.ts +13 -0
  19. package/src/hooks/useMountedCameraSequenceRecorder.ts +155 -0
  20. package/src/index.ts +80 -0
  21. package/src/rendering/cameraFrameCapture.ts +195 -26
  22. package/src/rendering/cameraFrameSource.ts +747 -0
  23. package/src/spark.tsx +144 -0
  24. package/src/types.ts +166 -4
  25. package/src/vite.ts +14 -6
  26. package/dist/chunk-33CV6HSV.js.map +0 -1
package/dist/chunk-VDSEPZYQ.js.map ADDED
@@ -0,0 +1 @@
1
+ {"version":3,"sources":["../src/types.ts","../src/components/VisualScenario.tsx"],"names":[],"mappings":";;;;;;AA2EA,IAAM,wBAA+C,EAAC;AACtD,IAAM,sBAAA,GAAgD,CAAC,WAAA,EAAa,SAAA,EAAW,UAAU,QAAA,EAAU,OAAA,EAAS,OAAA,EAAS,WAAA,EAAa,SAAS,CAAA;AAE3I,SAAS,2BAAA,GAAmF;AAC1F,EAAA,OAAO;AAAA,IACL,WAAW,EAAC;AAAA,IACZ,SAAS,EAAC;AAAA,IACV,QAAQ,EAAC;AAAA,IACT,QAAQ,EAAC;AAAA,IACT,OAAO,EAAC;AAAA,IACR,OAAO,EAAC;AAAA,IACR,WAAW,EAAC;AAAA,IACZ,SAAS;AAAC,GACZ;AACF;AAEO,SAAS,uBAAuB,SAAA,EAAmD;AACxF,EAAA,KAAA,MAAW,CAAC,KAAA,EAAO,cAAc,KAAK,MAAA,CAAO,OAAA,CAAQ,SAAS,CAAA,EAAG;AAC/D,IAAA,MAAM,QAAA,GAAW,qBAAA,CAAsB,KAAK,CAAA,IAAK,2BAAA,EAA4B;AAC7E,IAAA,KAAA,MAAW,OAAO,sBAAA,EAAwB;AACxC,MAAA,QAAA,CAAS,GAAG,CAAA,GAAI,EAAE,GAAG,QAAA,CAAS,GAAG,CAAA,EAAG,GAAI,cAAA,CAAe,GAAG,CAAA,IAAK,EAAC,EAAG;AAAA,IACrE;AACA,IAAA,qBAAA,CAAsB,KAAK,CAAA,GAAI,QAAA;AAAA,EACjC;AACF;AAEA,SAAS,uBAAyD,GAAA,EAAwC;AACxG,EAAA,OAAO,IAAI,KAAA,CAAM,EAAC,EAAG;AAAA,IACnB,GAAA,CAAI,SAAS,KAAA,EAAO;AAClB,MAAA,IAAI,OAAO,KAAA,KAAU,QAAA,EAAU,OAAO,MAAA;AACtC,MAAA,OAAO,qBAAA,CAAsB,KAAK,CAAA,GAAI,GAAG,KAAK,EAAC;AAAA,IACjD,CAAA;AAAA,IACA,OAAA,GAAU;AACR,MAAA,OAAO,OAAA,CAAQ,QAAQ,qBAAqB,CAAA;AAAA,IAC9C,CAAA;AAAA,IACA,wBAAA,CAAyB,SAAS,KAAA,EAAO;AACvC,MAAA,IAAI,OAAO,KAAA,KAAU,QAAA,IAAY,EAAE,KAAA,IAAS,wBAAwB,OAAO,MAAA;AAC3E,MAAA,OAAO,EAAE,UAAA,EAAY,IAAA,EAAM,YAAA,EAAc,IAAA,EAAK;AAAA,IAChD;AAAA,GACD,CAAA;AACH;AAEO,IAAM,cAAA,GAAwC,IAAI,KAAA,CAAM,qBAAA,EAAuB;AAAA,EACpF,GAAA,CAAI,QAAQ,KAAA,EAAO;AACjB,IAAA,IAAI,OAAO,KAAA,KAAU,QAAA,EAAU,OAAO,MAAA;AACtC,IAAA,OAAO,MAAA,CAAO,KAAK,CAAA,IAAK,2BAAA,EAA4B;AAAA,EACtD,CAAA;AAAA,EACA,QAAQ,MAAA,EAAQ;AACd,IAAA,OAAO,OAAA,CAAQ,QAAQ,MAAM,CAAA;AAAA,EAC/B,CAAA;AAAA,EACA,wBAAA,CAAyB,QAAQ,KAAA,EAAO;AACtC,IAAA,IAAI,OAAO,KAAA,KAAU,QAAA,IAAY,EAAE,KAAA,IAAS,SAAS,OAAO,MAAA;AAC5D,IAAA,OAAO,EAAE,UAAA,EAAY,IAAA,EAAM,YAAA,EAAc,IAAA,EAAK;AAAA,EAChD;AACF,CAAC;AAEM,IAAM,cAAA,GAAqD,uBAAuB,WAAW;AAC7F,IAAM,YAAA,GAAiD,uBAAuB,SAAS;AACvF,IAAM,WAAA,GAA+C,uBAAuB,QAAQ;AACpF,IAAM,WAAA,GAA+C,uBAAuB,QAAQ;AACpF,IAAM,UAAA,GAA6C,uBAAuB,OAAO;AACjF,IAAM,UAAA,GAA6C,uBAAuB,OAAO;AACjF,IAAM,cAAA,GAAqD,uBAAuB,WAAW;AAC7F,IAAM,YAAA,GAAiD,uBAAuB,SAAS;AAqCvF,SAAS,UAAA,CAAW,UAA8B,CAAA,EAAsC;AAC7F,EAAA,IAAI;AACF,IAAA,OAAO,QAAA,CAAS,IAAI,CAAC,CAAA;AAAA,EACvB,CAAA,CAAA,MAAQ;AACN,IAAA,OAAO,MAAA;AAAA,EACT;AACF;AAKO,SAAS,YAAA,CAAgB,MAAkB,IAAA,EAA8C;AAC9F,EAAA,MAAM,WAAW,IAAA,CAAK,OAAA;AACtB,EAAA,IAAI;AACF,IAAA,OAAO,KAAK,QAAQ,CAAA;AAAA,EACtB,CAAA,SAAE;AACA,IAAA,QAAA,CAAS,MAAA,IAAS;AAAA,EACpB;AACF;AAquBO,IAAM,+BAAA,GAAkC;AAAA,EAC7C,QAAA,EAAU,UAAA;AAAA,EACV,YAAA,EAAc,eAAA;AAAA,EACd,qBAAA,EAAuB,yBAAA;AAAA,EACvB,iBAAA,EAAmB,oBAAA;AAAA,EACnB,KAAA,EAAO;AACT;AC34BA,IAAM,kBAAA,GAAqB,SAAA;AAEpB,SAAS,gBAAA,CAAiB;AAAA,EAC/B,MAAA,GAAS,QAAA;AAAA,EACT,UAAA,GAAa,IAAA;AAAA,EACb,SAAA,GAAY;AACd,CAAA,EAA0B;AACxB,EAAA,IAAI,WAAW,WAAA,EAAa;AAC1B,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,GAAA,EAAK,EAAA,EAAI,CAAC,CAAA;AAAA,UACrB,WAAW,GAAA,GAAM,SAAA;AAAA,UACjB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,kBAAA,EAAA,EAAiB,QAAA,EAAU,CAAC,EAAA,EAAI,KAAK,GAAG,CAAA,EAAG,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW;AAAA,KAAA,EAC3E,CAAA;AAAA,EAEJ;AAEA,EAAA,IAAI,WAAW,WAAA,EAAa;AAC1B,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,CAAA,EAAG,EAAA,EAAI,CAAC,CAAA;AAAA,UACnB,WAAW,IAAA,GAAO,SAAA;AAAA,UAClB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,YAAA,EAAA,EAAW,QAAA,EAAU,CAAC,IAAA,EAAM,MAAM,GAAG,CAAA,EAAG,SAAA,EAAW,GAAA,GAAM,SAAA,EAAW;AAAA,KAAA,EACvE,CAAA;AAAA,EAEJ;AAEA,EAAA,IAAI,WAAW,OAAA,EAAS;AACtB,IAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,sBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,sBAC3C,GAAA;AAAA,QAAC,kBAAA;AAAA,QAAA;AAAA,UACC,QAAA,EAAU,CAAC,GAAA,EAAK,IAAA,EAAM,GAAG,CAAA;AAAA,UACzB,WAAW,GAAA,GAAM,SAAA;AAAA,UACjB;AAAA;AAAA,OACF;AAAA,sBACA,GAAA,CAAC,YAAA,EAAA,EAAW,QAAA,EAAU,CAAC,GAAA,EAAK,KAAK,GAAG,CAAA,EAAG,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW;AAAA,KAAA,EACtE,CAAA;AAAA,EAEJ;AAEA,EAAA,uBACE,IAAA,CAAA,QAAA,EAAA,EACE,QAAA,EAAA;AAAA,oBAAA,GAAA,CAAC,cAAA,EAAA,EAAa,SAAA,EAAW,IAAA,GAAO,SAAA,EAAW,CAAA;AAAA,oBAC3C,GAAA;AAAA,MAAC,kBAAA;AAAA,MAAA;AAAA,QACC,QAAA,EAAU,CAAC,GAAA,EAAK,EAAA,EAAI,CAAC,CAAA;AAAA,QACrB,WAAW,GAAA,GAAM,SAAA;AAAA,QACjB;AAAA;AAAA;AACF,GAAA,EACF,CAAA;AAEJ;AAEO,SAAS,qBAAA,CACd,MAAA,EACA,QAAA,GAAW,kBAAA,EACX;AACA,EAAA,IAAI,MAAA,KAAW,aAAa,OAAO,SAAA;AACnC,EAAA,IAAI,MAAA,KAAW,aAAa,OAAO,SAAA;AACnC,EAAA,IAAI,MAAA,KAAW,SAAS,OAAO,SAAA;AAC/B,EAAA,OAAO,QAAA;AACT;AAEO,SAAS,yBAAA,CACd,cACA,QAAA,EAC0B;AAC1B,EAAA,MAAM,CAAC,CAAA,EAAG,CAAA,EAAG,CAAC,CAAA,GAAI,YAAA;AAClB,EAAA,MAAM,MAAA,GAAS,QAAA,EAAU,MAAA,EAAQ,MAAA,IAAU,CAAA;AAE3C,EAAA,OAAO;AAAA,IACL,QAAQ,CAAA,GAAI,MAAA,GAAS,GAAA,EAAK,OAAA,CAAQ,CAAC,CAAC,CAAA;AAAA,IACpC,QAAQ,CAAA,GAAI,MAAA,GAAS,GAAA,EAAK,OAAA,CAAQ,CAAC,CAAC,CAAA;AAAA,IACpC,QAAQ,CAAA,GAAI,MAAA,GAAS,IAAA,EAAM,OAAA,CAAQ,CAAC,CAAC;AAAA,GACvC;AACF;AAEO,SAAS,iCAAA,CAAkC;AAAA,EAChD,QAAA;AAAA,EACA,WAAA;AAAA,EACA,QAAA;AAAA,EACA,SAAA;AAAA,EACA;AACF,CAAA,EAAwE;AACtE,EAAA,OAAO,OAAA;AAAA,IACL,MACE,oCAAA,CAAqC;AAAA,MACnC,QAAA;AAAA,MACA,WAAA;AAAA,MACA,QAAA;AAAA,MACA,SAAA;AAAA,MACA;AAAA,KACD,CAAA;AAAA,IACH,CAAC,OAAA,EAAS,WAAA,EAAa,QAAA,EAAU,UAAU,SAAS;AAAA,GACtD;AACF;AAEO,SAAS,oCAAA,CAAqC;AAAA,EACnD,QAAA;AAAA,EACA,WAAA;AAAA,EACA,QAAA;AAAA,EACA,SAAA;AAAA,EACA,OAAA,GAAU;AACZ,CAAA,EAAwE;AACtE,EAAA,MAAM,iBAAA,GACJ,gBACC,QAAA,GAAW,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GAAI,MAAA,CAAA;AACrE,EAAA,MAAM,QAAQ,QAAA,EAAU,KAAA;AACxB,EAAA,MAAM,cAAA,GACJ,iBAAA,EAAmB,cAAA,IAAkB,KAAA,EAAO,cAAA,IAAkB,MAAA;AAChE,EAAA,MAAM,YAAY,4BAAA,CAA6B;AAAA,IAC7C,WAAA,EAAa,iBAAA;AAAA,IACb,QAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACD,EAAA,MAAM,SACJ,iBAAA,EAAmB,KAAA,CAAM,UAAU,KAAA,EAAO,MAAA,IAAU,UAAU,MAAA,IAAU,KAAA;AAE1E,EAAA,OAAO;AAAA,IACL,UAAA,EAAY,QAAA,EAAU,EAAA,IAAM,iBAAA,EAAmB,EAAA,IAAM,iBAAA;AAAA,IACrD,aAAA,EACE,QAAA,EAAU,KAAA,IAAS,iBAAA,EAAmB,KAAA,IAAS,iBAAA;AAAA,IACjD,SAAA;AAAA,IACA,IAAA,EAAM,UAAU,IAAA,IAAQ,CAAA;AAAA,IACxB,QAAA,EAAU,UAAU,QAAA,IAAY,QAAA;AAAA,IAChC,aAAa,QAAA,EAAU,WAAA;AAAA,IACvB,MAAA,EAAQ;AAAA,MACN,MAAA,EAAQ,QAAA,EAAU,MAAA,EAAQ,MAAA,IAAU,CAAA;AAAA,MACpC,QAAA,EAAU,QAAA,EAAU,MAAA,EAAQ,QAAA,IAAY,CAAA;AAAA,MACxC,KAAA,EAAO,QAAA,EAAU,MAAA,EAAQ,KAAA,IAAS,CAAA;AAAA,MAClC,IAAA,EAAM,QAAA,EAAU,MAAA,EAAQ,IAAA,IAAQ;AAAA,KAClC;AAAA,IACA,SAAA,EAAW;AAAA,MACT,qBAAA,EAAuB,OAAA;AAAA,QACrB,UAAU,SAAA,EAAW;AAAA,OACvB;AAAA,MACA,sBAAA,EAAwB,OAAA;AAAA,QACtB,UAAU,SAAA,EAAW;AAAA,OACvB;AAAA,MACA,SAAA,EAAW,UAAU,SAAA,EAAW,SAAA;AAAA,MAChC,SAAA,EAAW,UAAU,SAAA,EAAW;AAAA,KAClC;AAAA,IACA,YAAA,EAAc,OAAA,CAAQ,KAAA,EAAO,OAAA,IAAW,iBAAiB,CAAA;AAAA,IACzD,QAAA,EAAU,iBAAA,EAAmB,KAAA,CAAM,GAAA,IAAO,KAAA,EAAO,GAAA;AAAA,IACjD,WAAA,EAAa,MAAA;AAAA,IACb,aAAA,EAAe,QAAA,IAAY,iBAAA,EAAmB,KAAA,CAAM,QAAA;AAAA,IACpD,uBAAuB,cAAA,EAAgB,OAAA;AAAA,IACvC,sBAAsB,cAAA,EAAgB,MAAA;AAAA,IACtC,wBAAA,EAA0B,cAAA,EAAgB,UAAA,IAAc,EAAC;AAAA,IACzD,SAAA;AAAA,IACA,eAAA,EAAiB;AAAA,GACnB;AACF;AAEO,SAAS,sBAAsB,KAAA,EAAmC;AACvE,EAAA,wBAAA,CAAyB,KAAK,CAAA;AAC9B,EAAA,OAAO,IAAA;AACT;AAEO,SAAS,wBAAA,CAAyB;AAAA,EACvC,QAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV,eAAA,GAAkB,IAAA;AAAA,EAClB,QAAA,GAAW,IAAA;AAAA,EACX,aAAA,GAAgB,IAAA;AAAA,EAChB,cAAA,GAAiB,IAAA;AAAA,EACjB,UAAA;AAAA,EACA,OAAA;AAAA,EACA,MAAA;AAAA,EACA;AACF,CAAA,EAA+B;AAC7B,EAAA,MAAM,EAAE,EAAA,EAAI,KAAA,EAAO,UAAA,KAAe,QAAA,EAAS;AAE3C,EAAA,SAAA,CAAU,MAAM;AACd,IAAA,IAAI,CAAC,OAAA,IAAW,CAAC,QAAA,EAAU;AACzB,MAAA,OAAO,MAAA;AAAA,IACT;AAEA,IAAA,MAAM,mBAAmB,EAAA,CAAG,mBAAA;AAC5B,IAAA,MAAM,qBAAqB,KAAA,CAAM,UAAA;AACjC,IAAA,MAAM,cAAc,KAAA,CAAM,GAAA;AAC1B,IAAA,MAAM,iBAAA,uBAAwB,GAAA,EAO5B;AAEF,IAAA,IAAI,aAAA,EAAe;AACjB,MAAA,EAAA,CAAG,mBAAA,GAAsB,QAAA,CAAS,MAAA,EAAQ,QAAA,IAAY,CAAA;AAAA,IACxD;AAEA,IAAA,IAAI,eAAA,EAAiB;AACnB,MAAA,KAAA,CAAM,aAAa,IAAU,KAAA,CAAA,KAAA;AAAA,QAC3B,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ;AAAA,OACvD;AAAA,IACF;AAEA,IAAA,IAAI,QAAA,EAAU;AACZ,MAAA,KAAA,CAAM,GAAA,GAAM,iBAAA,CAAkB,QAAA,EAAU,UAAA,EAAY,SAAS,MAAM,CAAA;AAAA,IACrE;AAEA,IAAA,IAAI,cAAA,IAAkB,SAAS,SAAA,EAAW;AACxC,MAAA,sBAAA,CAAuB,KAAA,EAAO,QAAA,EAAU,iBAAA,EAAmB,cAAc,CAAA;AAAA,IAC3E;AAEA,IAAA,UAAA,EAAW;AAEX,IAAA,OAAO,MAAM;AACX,MAAA,EAAA,CAAG,mBAAA,GAAsB,gBAAA;AACzB,MAAA,KAAA,CAAM,UAAA,GAAa,kBAAA;AACnB,MAAA,KAAA,CAAM,GAAA,GAAM,WAAA;AAEZ,MAAA,KAAA,MAAW,CAAC,QAAA,EAAU,QAAQ,CAAA,IAAK,iBAAA,EAAmB;AACpD,QAAA,MAAM,OAAA,GAAU,2BAA2B,QAAQ,CAAA;AACnD,QAAA,IAAI,CAAC,OAAA,EAAS;AACd,QAAA,IAAI,SAAS,KAAA,EAAO,OAAA,CAAQ,KAAA,CAAM,IAAA,CAAK,SAAS,KAAK,CAAA;AACrD,QAAA,IAAI,OAAO,QAAA,CAAS,SAAA,KAAc,QAAA,EAAU;AAC1C,UAAA,OAAA,CAAQ,YAAY,QAAA,CAAS,SAAA;AAAA,QAC/B;AACA,QAAA,IAAI,OAAO,QAAA,CAAS,SAAA,KAAc,QAAA,EAAU;AAC1C,UAAA,OAAA,CAAQ,YAAY,QAAA,CAAS,SAAA;AAAA,QAC/B;AACA,QAAA,OAAA,CAAQ,WAAA,GAAc,IAAA;AAAA,MACxB;AAEA,MAAA,UAAA,EAAW;AAAA,IACb,CAAA;AAAA,EACF,CAAA,EAAG;AAAA,IACD,eAAA;AAAA,IACA,QAAA;AAAA,IACA,cAAA;AAAA,IACA,aAAA;AAAA,IACA,UAAA;AAAA,IACA,OAAA;AAAA,IACA,MAAA;AAAA,IACA,OAAA;AAAA,IACA,EAAA;AAAA,IACA,UAAA;AAAA,IACA,cAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACH;AASO,SAAS,gBAAA,CAAiB;AAAA,EAC/B,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,sBAAA;AAAA,EACA,QAAA;AAAA,EACA,eAAA,GAAkB,IAAA;AAAA,EAClB,GAAG;AACL,CAAA,EAA0B;AACxB,EAAA,MAAM,WAAW,mBAAA,CAAoB;AAAA,IACnC,WAAA;AAAA,IACA,QAAA;AAAA,IACA,QAAA;AAAA,IACA,GAAA;AAAA,IACA,MAAA;AAAA,IACA,cAAA,EAAgB;AAAA,GACjB,CAAA;AACD,EAAA,MAAM,gBAAA,GACJ,OAAO,UAAA,CAAW,QAAA,KAAa,QAAA,IAAY,WAAW,QAAA,KAAa,IAAA,GAC/D,UAAA,CAAW,QAAA,GACX,EAAC;AAEP,EAAA,uBACE,IAAA;AAAA,IAAC,OAAA;AAAA,IAAA;AAAA,MACE,GAAG,UAAA;AAAA,MACJ,QAAA,EAAU;AAAA,QACR,GAAG,gBAAA;AAAA,QACH,GAAG,QAAA,CAAS;AAAA,OACd;AAAA,MAEC,QAAA,EAAA;AAAA,QAAA,QAAA;AAAA,QACA,QAAA,IAAY,CAAC,eAAA,GAAkB,IAAA,uBAAQ,gBAAA,EAAA,EAAiB,CAAA;AAAA,QACxD;AAAA;AAAA;AAAA,GACH;AAEJ;AAEO,SAAS,mBAAA,CAAoB;AAAA,EAClC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA;AACF,CAAA,EAA4D;AAC1D,EAAA,MAAM,mBAAA,GAAsB,OAAA;AAAA,IAC1B,MACE,gBACC,QAAA,GACG,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GACnD,MAAA,CAAA;AAAA,IACN,CAAC,WAAA,EAAa,QAAA,EAAU,QAAQ;AAAA,GAClC;AACA,EAAA,MAAM,cAAc,GAAA,IAAO,mBAAA,EAAqB,KAAA,CAAM,GAAA,IAAO,UAAU,KAAA,EAAO,GAAA;AAC9E,EAAA,MAAM,iBACJ,MAAA,IACA,mBAAA,EAAqB,MAAM,MAAA,IAC3B,QAAA,EAAU,OAAO,MAAA,IACjB,KAAA;AACF,EAAA,MAAM,yBACJ,cAAA,IACA,mBAAA,EAAqB,cAAA,IACrB,QAAA,EAAU,OAAO,cAAA,IACjB,MAAA;AACF,EAAA,MAAM,SAAA,GAAY,OAAA;AAAA,IAChB,MACE,4BAAA,CAA6B;AAAA,MAC3B,WAAA,EAAa,mBAAA;AAAA,MACb,QAAA;AAAA,MACA,QAAA;AAAA,MACA,GAAA,EAAK,WAAA;AAAA,MACL,MAAA,EAAQ,cAAA;AAAA,MACR,cAAA,EAAgB;AAAA,KACjB,CAAA;AAAA,IACH;AAAA,MACE,cAAA;AAAA,MACA,QAAA;AAAA,MACA,sBAAA;AAAA,MACA,cAAA;AAAA,MACA,WAAA;AAAA,MACA,QAAA;AAAA,MACA;AAAA;AACF,GACF;AAEA,EAAA,OAAO,OAAA;AAAA,IACL,OAAO;AAAA,MACL,GAAA,EAAK,WAAA;AAAA,MACL,MAAA,EAAQ,cAAA;AAAA,MACR,cAAA,EAAgB,sBAAA;AAAA,MAChB,SAAA;AAAA,MACA,UAAU,8BAAA,CAA+B;AAAA,QACvC,WAAA,EAAa,mBAAA;AAAA,QACb,GAAA,EAAK,WAAA;AAAA,QACL,MAAA,EAAQ,cAAA;AAAA,QACR,cAAA,EAAgB,sBAAA;AAAA,QAChB;AAAA,OACD;AAAA,KACH,CAAA;AAAA,IACA;AAAA,MACE,mBAAA;AAAA,MACA,WAAA;AAAA,MACA,cAAA;AAAA,MACA,sBAAA;AAAA,MACA;AAAA;AACF,GACF;AACF;AAUO,SAAS,mBAAA,CAAoB;AAAA,EAClC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,WAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV;AACF,CAAA,EAAiD;AAC/C,EAAA,OAAO,OAAA;AAAA,IACL,MACE,sBAAA,CAAuB;AAAA,MACrB,WAAA;AAAA,MACA,QAAA;AAAA,MACA,WAAA;AAAA,MACA,OAAA;AAAA,MACA;AAAA,KACD,CAAA;AAAA,IACH,CAAC,OAAA,EAAS,WAAA,EAAa,QAAA,EAAU,UAAU,WAAW;AAAA,GACxD;AACF;AAQO,SAAS,sBAAA,CAAuB;AAAA,EACrC,WAAA;AAAA,EACA,QAAA;AAAA,EACA,WAAA;AAAA,EACA,OAAA,GAAU,IAAA;AAAA,EACV;AACF,CAAA,EAAiD;AAC/C,EAAA,MAAM,mBAAA,GAAsB,OAAA,GACxB,WAAA,KACC,QAAA,GACG,4BAAA,CAA6B,UAAU,EAAE,QAAA,EAAU,CAAA,GACnD,MAAA,CAAA,GACJ,MAAA;AACJ,EAAA,MAAM,YAAY,4BAAA,CAA6B;AAAA,IAC7C,WAAA,EAAa,mBAAA;AAAA,IACb,QAAA;AAAA,IACA,QAAA;AAAA,IACA;AAAA,GACD,CAAA;AACD,EAAA,MAAM,mBAAA,GAAsB,sBACxB,oBAAA,CAAqB,WAAA,EAAa,qBAAqB,EAAE,QAAA,EAAU,CAAA,GACnE,WAAA;AAEJ,EAAA,OAAO;AAAA,IACL,WAAA,EAAa,mBAAA;AAAA,IACb,WAAA,EAAa,mBAAA;AAAA,IACb,OAAA,EACE,OAAA,IAAW,SAAA,CAAU,MAAA,KAAW,+BAAA,CAAgC,QAAA;AAAA,IAClE;AAAA,GACF;AACF;AAEO,SAAS,4BAAA,CAA6B;AAAA,EAC3C,WAAA;AAAA,EACA,QAAA;AAAA,EACA,QAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA;AAAA,EACA,cAAA;AAAA,EACA,OAAA,GAAU;AACZ,CAAA,EAQ8B;AAC5B,EAAA,MAAM,QAAQ,QAAA,EAAU,KAAA;AACxB,EAAA,MAAM,WAAA,GAAc,GAAA,IAAO,WAAA,EAAa,KAAA,CAAM,OAAO,KAAA,EAAO,GAAA;AAC5D,EAAA,MAAM,iBACJ,MAAA,IAAU,WAAA,EAAa,KAAA,CAAM,MAAA,IAAU,OAAO,MAAA,IAAU,KAAA;AAC1D,EAAA,MAAM,gBAAA,GAAmB,QAAA,IAAY,WAAA,EAAa,KAAA,CAAM,QAAA;AACxD,EAAA,MAAM,sBAAA,GACJ,cAAA,IAAkB,WAAA,EAAa,cAAA,IAAkB,OAAO,cAAA,IAAkB,MAAA;AAC5E,EAAA,MAAM,sBAAA,GAAyB,OAAO,sBAAA,IAA0B,IAAA;AAEhE,EAAA,IAAI,CAAC,OAAA,IAAY,KAAA,IAAS,MAAM,OAAA,KAAY,KAAA,IAAS,CAAC,WAAA,EAAc;AAClE,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,QAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,SAAS,EAAC;AAAA,MACV,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,IAAI,CAAC,WAAA,EAAa;AAChB,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,YAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,OAAA,EAAS,CAAC,OAAO,CAAA;AAAA,MACjB,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,IAAI,gBAAA,KAAqB,OAAA,IAAW,cAAA,KAAmB,KAAA,EAAO;AAC5D,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,iBAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,SAAS,EAAC;AAAA,MACV,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS,wDAAwD,cAAc,CAAA,CAAA;AAAA,KACjF;AAAA,EACF;AAEA,EAAA,IAAI,sBAAA,IAA0B,CAAC,sBAAA,EAAwB,OAAA,EAAS;AAC9D,IAAA,OAAO;AAAA,MACL,QAAQ,+BAAA,CAAgC,qBAAA;AAAA,MACxC,KAAA,EAAO,KAAA;AAAA,MACP,sBAAA;AAAA,MACA,OAAA,EAAS,CAAC,gBAAgB,CAAA;AAAA,MAC1B,MAAA,EAAQ,cAAA;AAAA,MACR,QAAA,EAAU,gBAAA;AAAA,MACV,OAAA,EAAS;AAAA,KACX;AAAA,EACF;AAEA,EAAA,OAAO;AAAA,IACL,QAAQ,+BAAA,CAAgC,KAAA;AAAA,IACxC,KAAA,EAAO,IAAA;AAAA,IACP,sBAAA;AAAA,IACA,SAAS,EAAC;AAAA,IACV,MAAA,EAAQ,cAAA;AAAA,IACR,QAAA,EAAU,gBAAA;AAAA,IACV,OAAA,EAAS,yBACL,kEAAA,GACA;AAAA,GACN;AACF;AAOO,SAAS,4BAAA,CACd,QAAA,EACA,OAAA,GAKI,EAAC,EACqC;AAC1C,EAAA,MAAM,QAAQ,QAAA,CAAS,KAAA;AACvB,EAAA,MAAM,iBAAiB,KAAA,EAAO,cAAA;AAE9B,EAAA,IAAI,CAAC,KAAA,EAAO,OAAA,IAAW,CAAC,MAAM,GAAA,EAAK;AACjC,IAAA,OAAO,MAAA;AAAA,EACT;AAEA,EAAA,OAAO;AAAA,IACL,EAAA,EAAI,OAAA,CAAQ,EAAA,IAAM,QAAA,CAAS,EAAA,IAAM,mBAAA;AAAA,IACjC,KAAA,EAAO,OAAA,CAAQ,KAAA,IAAS,QAAA,CAAS,KAAA,IAAS,4BAAA;AAAA,IAC1C,WAAA,EACE,QAAQ,WAAA,KACP,QAAA,CAAS,cACN,CAAA,OAAA,EAAU,QAAA,CAAS,WAAW,CAAA,wCAAA,CAAA,GAC9B,MAAA,CAAA;AAAA,IACN,KAAA,EAAO;AAAA,MACL,KAAK,KAAA,CAAM,GAAA;AAAA,MACX,MAAA,EAAQ,MAAM,MAAA,IAAU,KAAA;AAAA,MACxB,UAAU,OAAA,CAAQ;AAAA,KACpB;AAAA,IACA,cAAA,EAAgB,gBAAgB,OAAA,GAC5B;AAAA,MACE,GAAG,cAAA;AAAA,MACH,SAAS,cAAA,CAAe;AAAA,KAC1B,GACA;AAAA,GACN;AACF;AAEA,SAAS,yBAAyB,KAAA,EAA+D;AAC/F,EAAA,OACE,CAAC,CAAC,KAAA,IACF,OAAA,IAAW,KAAA,IACX,CAAC,CAAC,KAAA,CAAM,KAAA,IACR,EAAE,SAAA,IAAa,KAAA,CAAM,KAAA,CAAA;AAEzB;AAEA,SAAS,iBAAA,CAAkB,aAA0B,IAAA,EAAsB;AACzE,EAAA,MAAM,MAAM,WAAA,CAAY,GAAA;AACxB,EAAA,IAAI,CAAC,KAAK,OAAO,IAAA;AAEjB,EAAA,MAAM,OAAO,GAAA,CAAI,QAAA,CAAS,GAAG,CAAA,GAAI,MAAM,GAAA,GAAM,GAAA;AAC7C,EAAA,IAAI,IAAA,CAAK,WAAW,IAAI,CAAA,SAAU,IAAA,CAAK,KAAA,CAAM,KAAK,MAAM,CAAA;AACxD,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,YAAY,KAAA,EAAoC;AACvD,EAAA,MAAM,IAAA,uBAAW,GAAA,EAAY;AAC7B,EAAA,MAAM,SAAmB,EAAC;AAC1B,EAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,IAAA,IAAI,IAAA,CAAK,GAAA,CAAI,IAAI,CAAA,EAAG;AACpB,IAAA,IAAA,CAAK,IAAI,IAAI,CAAA;AACb,IAAA,MAAA,CAAO,KAAK,IAAI,CAAA;AAAA,EAClB;AACA,EAAA,OAAO,MAAA;AACT;AASO,SAAS,oBAAA,CACd,WAAA,EACA,KAAA,EACA,OAAA,GAA4C,EAAC,EAChC;AACb,EAAA,MAAM,WAAA,GAAc,yBAAyB,KAAK,CAAA,GAC9C,QACA,KAAA,GACE,4BAAA,CAA6B,KAAA,EAAO,OAAO,CAAA,GAC3C,MAAA;AACN,EAAA,MAAM,OAAA,GAAU,aAAa,cAAA,EAAgB,OAAA;AAC7C,EAAA,IAAI,CAAC,SAAS,OAAO,WAAA;AAErB,EAAA,OAAO;AAAA,IACL,GAAG,WAAA;AAAA,IACH,kBAAkB,WAAA,CAAY;AAAA,MAC5B,GAAI,WAAA,CAAY,gBAAA,IAAoB,EAAC;AAAA,MACrC,iBAAA,CAAkB,aAAa,OAAO;AAAA,KACvC;AAAA,GACH;AACF;AAEO,SAAS,8BAAA,CAA+B;AAAA,EAC7C,WAAA;AAAA,EACA,GAAA;AAAA,EACA,MAAA,GAAS,KAAA;AAAA,EACT,cAAA;AAAA,EACA;AACF,CAAA,EAMG;AACD,EAAA,OAAO;AAAA,IACL,IAAA,EAAM,mBAAA;AAAA,IACN,eAAe,WAAA,EAAa,EAAA;AAAA,IAC5B,kBAAkB,WAAA,EAAa,KAAA;AAAA,IAC/B,QAAA,EAAU,GAAA;AAAA,IACV,WAAA,EAAa,MAAA;AAAA,IACb,aAAA,EAAe,aAAa,KAAA,CAAM,QAAA;AAAA,IAClC,oBAAA,EAAsB,gBAAgB,MAAA,IAAU,SAAA;AAAA,IAChD,uBAAuB,cAAA,EAAgB,OAAA;AAAA,IACvC,wBAAA,EAA0B,cAAA,EAAgB,UAAA,IAAc,EAAC;AAAA,IACzD,iBAAiB,SAAA,EAAW,MAAA;AAAA,IAC5B,kBAAkB,SAAA,EAAW;AAAA,GAC/B;AACF;AAEO,SAAS,yBAAA,CAA0B;AAAA,EACxC,SAAA;AAAA,EACA;AACF,CAAA,EAGG;AACD,EAAA,MAAM,GAAA,GAAM,IAAI,GAAA,CAAI,SAAA,EAAW,2BAA2B,CAAA;AAC1D,EAAA,GAAA,CAAI,YAAA,CAAa,GAAA,CAAI,OAAA,EAAS,QAAQ,CAAA;AACtC,EAAA,OAAO,SAAA,CAAU,UAAA,CAAW,MAAM,CAAA,GAAI,GAAA,CAAI,QAAA,EAAS,GAAI,CAAA,EAAG,GAAA,CAAI,QAAQ,CAAA,EAAG,GAAA,CAAI,MAAM,CAAA,CAAA;AACrF;AAEA,SAAS,gBAAA,GAAmB;AAC1B,EAAA,uBACE,GAAA,CAAC,WACC,QAAA,kBAAA,IAAA,CAAC,MAAA,EAAA,EAAK,UAAU,CAAC,CAAA,EAAG,CAAA,EAAG,GAAG,CAAA,EACxB,QAAA,EAAA;AAAA,oBAAA,GAAA,CAAC,iBAAY,IAAA,EAAM,CAAC,GAAA,EAAK,GAAA,EAAK,GAAG,CAAA,EAAG,CAAA;AAAA,oBACpC,GAAA;AAAA,MAAC,mBAAA;AAAA,MAAA;AAAA,QACC,KAAA,EAAM,SAAA;AAAA,QACN,WAAA,EAAW,IAAA;AAAA,QACX,OAAA,EAAS,IAAA;AAAA,QACT,SAAA,EAAS,IAAA;AAAA,QACT,IAAA,EAAY,KAAA,CAAA;AAAA;AAAA;AACd,GAAA,EACF,CAAA,EACF,CAAA;AAEJ;AAEA,SAAS,iBAAA,CACP,QAAA,EACA,UAAA,EACA,OAAA,EACA,MAAA,EACA;AACA,EAAA,IAAI,QAAA,CAAS,aAAa,WAAA,EAAa;AACrC,IAAA,OAAO,IAAU,KAAA,CAAA,GAAA;AAAA,MACf,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ,CAAA;AAAA,MACrD,OAAA,IAAW,GAAA;AAAA,MACX,MAAA,IAAU;AAAA,KACZ;AAAA,EACF;AAEA,EAAA,IAAI,QAAA,CAAS,aAAa,WAAA,EAAa;AACrC,IAAA,OAAO,IAAU,KAAA,CAAA,GAAA;AAAA,MACf,UAAA,IAAc,qBAAA,CAAsB,QAAA,CAAS,QAAQ,CAAA;AAAA,MACrD,OAAA,IAAW,CAAA;AAAA,MACX,MAAA,IAAU;AAAA,KACZ;AAAA,EACF;AAEA,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,sBAAA,CACP,KAAA,EACA,QAAA,EACA,SAAA,EAQA,cAAA,EACA;AACA,EAAA,MAAM,YAAY,QAAA,CAAS,SAAA;AAC3B,EAAA,IAAI,CAAC,SAAA,EAAW;AAEhB,EAAA,KAAA,CAAM,QAAA,CAAS,CAAC,MAAA,KAAW;AACzB,IAAA,IAAI,EAAE,kBAAwB,KAAA,CAAA,IAAA,CAAA,EAAO;AACnC,MAAA;AAAA,IACF;AAEA,IAAA,KAAA,MAAW,QAAA,IAAY,kBAAA,CAAmB,MAAA,CAAO,QAAQ,CAAA,EAAG;AAC1D,MAAA,MAAM,OAAA,GAAU,2BAA2B,QAAQ,CAAA;AACnD,MAAA,IAAI,CAAC,OAAA,EAAS;AACd,MAAA,IAAI,kBAAkB,CAAC,cAAA,CAAe,EAAE,MAAA,EAAQ,QAAA,EAAU,CAAA,EAAG;AAE7D,MAAA,IAAI,CAAC,SAAA,CAAU,GAAA,CAAI,QAAQ,CAAA,EAAG;AAC5B,QAAA,SAAA,CAAU,IAAI,QAAA,EAAU;AAAA,UACtB,KAAA,EAAO,OAAA,CAAQ,KAAA,CAAM,KAAA,EAAM;AAAA,UAC3B,WAAW,OAAA,CAAQ,SAAA;AAAA,UACnB,WAAW,OAAA,CAAQ;AAAA,SACpB,CAAA;AAAA,MACH;AAEA,MAAA,qBAAA,CAAsB,OAAA,EAAS,MAAA,EAAQ,QAAA,EAAU,SAAS,CAAA;AAAA,IAC5D;AAAA,EACF,CAAC,CAAA;AACH;AAEA,SAAS,qBAAA,CACP,QAAA,EACA,MAAA,EACA,QAAA,EACA,SAAA,EACA;AACA,EAAA,MAAM,IAAA,GAAO,SAAS,IAAA,IAAQ,CAAA;AAC9B,EAAA,MAAM,SAAA,GAAY,CAAA,EAAG,QAAA,CAAS,EAAA,IAAM,UAAU,CAAA,CAAA,EAAI,MAAA,CAAO,IAAI,CAAA,CAAA,EAAI,QAAA,CAAS,IAAI,CAAA,CAAA,EAAI,IAAI,CAAA,CAAA;AACtF,EAAA,MAAM,SAAA,GAAY,mBAAmB,SAAS,CAAA;AAE9C,EAAA,IAAI,UAAU,qBAAA,EAAuB;AACnC,IAAA,QAAA,CAAS,KAAA,CAAM,MAAA,CAAO,SAAA,EAAW,IAAA,EAAM,IAAI,CAAA;AAAA,EAC7C;AAEA,EAAA,IAAI,UAAU,sBAAA,EAAwB;AACpC,IAAA,QAAA,CAAS,SAAA,GAAY,OAAA;AAAA,MACnB,SAAA,CAAU,SAAA,IAAa,IAAA,GAAO,SAAA,GAAY;AAAA,KAC5C;AACA,IAAA,QAAA,CAAS,SAAA,GAAY,OAAA;AAAA,MACnB,SAAA,CAAU,aAAa,SAAA,GAAY;AAAA,KACrC;AAAA,EACF;AAEA,EAAA,QAAA,CAAS,WAAA,GAAc,IAAA;AACzB;AAEA,SAAS,mBACP,QAAA,EACkB;AAClB,EAAA,OAAO,MAAM,OAAA,CAAQ,QAAQ,CAAA,GAAI,QAAA,GAAW,CAAC,QAAQ,CAAA;AACvD;AAEA,SAAS,2BACP,QAAA,EACgE;AAChE,EAAA,IACE,QAAA,YAA0B,KAAA,CAAA,oBAAA,IAC1B,QAAA,YAA0B,KAAA,CAAA,oBAAA,EAC1B;AACA,IAAA,OAAO,QAAA;AAAA,EACT;AAEA,EAAA,OAAO,IAAA;AACT;AAEA,SAAS,mBAAmB,KAAA,EAAe;AACzC,EAAA,IAAI,IAAA,GAAO,UAAA;AACX,EAAA,KAAA,IAAS,QAAQ,CAAA,EAAG,KAAA,GAAQ,KAAA,CAAM,MAAA,EAAQ,SAAS,CAAA,EAAG;AACpD,IAAA,IAAA,IAAQ,KAAA,CAAM,WAAW,KAAK,CAAA;AAC9B,IAAA,IAAA,GAAO,IAAA,CAAK,IAAA,CAAK,IAAA,EAAM,QAAQ,CAAA;AAAA,EACjC;AACA,EAAA,OAAA,CAAQ,SAAS,CAAA,IAAK,UAAA;AACxB;AAEA,SAAS,QAAQ,KAAA,EAAe;AAC9B,EAAA,OAAO,KAAK,GAAA,CAAI,CAAA,EAAG,KAAK,GAAA,CAAI,CAAA,EAAG,KAAK,CAAC,CAAA;AACvC","file":"chunk-VDSEPZYQ.js","sourcesContent":["/**\n * @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport type React from 'react';\nimport type { ReactNode } from 'react';\nimport type { CanvasProps, ThreeElements } from '@react-three/fiber';\nimport * as THREE from 'three';\n\n// ---- Register (type-safe named resources) ----\n\n/**\n * Module augmentation interface for type-safe resource names.\n *\n * Declare your model's resource names via module augmentation:\n * ```ts\n * declare module 'mujoco-react' {\n * interface Register {\n * robots: {\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 RegisteredRobotMap = Register extends { robots: infer T extends Record<string, Record<string, string>> }\n ? T\n : never;\nexport type Robots = [RegisteredRobotMap] extends [never] ? string : Extract<keyof RegisteredRobotMap, string>;\nexport type RobotResource<TRobot extends string, TKey extends string> =\n [RegisteredRobotMap] extends [never]\n ? string\n : TRobot extends keyof RegisteredRobotMap\n ? TKey extends keyof RegisteredRobotMap[TRobot]\n ? RegisteredRobotMap[TRobot][TKey]\n : string\n : never;\nexport type RobotActuators<TRobot extends string> = RobotResource<TRobot, 'actuators'>;\nexport type RobotSensors<TRobot extends string> = RobotResource<TRobot, 'sensors'>;\nexport type RobotBodies<TRobot extends string> = RobotResource<TRobot, 'bodies'>;\nexport type RobotJoints<TRobot extends string> = RobotResource<TRobot, 'joints'>;\nexport type RobotSites<TRobot extends string> = RobotResource<TRobot, 'sites'>;\nexport type RobotGeoms<TRobot extends string> = RobotResource<TRobot, 'geoms'>;\nexport type RobotKeyframes<TRobot extends string> = RobotResource<TRobot, 'keyframes'>;\nexport type RobotCameras<TRobot extends string> = RobotResource<TRobot, 'cameras'>;\n\nexport type RegisterResourceKey = 'actuators' | 'sensors' | 'bodies' | 'joints' | 'sites' | 'geoms' | 'keyframes' | 'cameras';\nexport type RobotResourceObject<TRobot extends string, TKey extends RegisterResourceKey> =\n string extends RobotResource<TRobot, TKey>\n ? Record<string, string>\n : { readonly [K in RobotResource<TRobot, TKey>]: K };\nexport type RobotResourceCategory<TKey extends RegisterResourceKey> =\n string extends Robots\n ? Record<string, Record<string, string>>\n : { readonly [TRobot in Robots]: RobotResourceObject<TRobot, TKey> };\nexport type RobotResourceRegistry =\n string extends Robots\n ? Record<string, Record<RegisterResourceKey, Record<string, string>>>\n : { readonly [TRobot in Robots]: { readonly [TKey in RegisterResourceKey]: RobotResourceObject<TRobot, TKey> } };\n\ntype RuntimeRobotResources = Record<string, Record<RegisterResourceKey, Record<string, string>>>;\ntype RuntimeRobotResourceRegistration = Readonly<Record<string, Readonly<Record<RegisterResourceKey, Readonly<Record<string, string>>>>>>;\n\nconst runtimeRobotResources: RuntimeRobotResources = {};\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 registerRobotResources(resources: RuntimeRobotResourceRegistration): void {\n for (const [robot, robotResources] of Object.entries(resources)) {\n const existing = runtimeRobotResources[robot] ?? createEmptyRuntimeResources();\n for (const key of REGISTER_RESOURCE_KEYS) {\n existing[key] = { ...existing[key], ...(robotResources[key] ?? {}) };\n }\n runtimeRobotResources[robot] = existing;\n }\n}\n\nfunction createResourceCategory<TKey extends RegisterResourceKey>(key: TKey): RobotResourceCategory<TKey> {\n return new Proxy({}, {\n get(_target, robot) {\n if (typeof robot !== 'string') return undefined;\n return runtimeRobotResources[robot]?.[key] ?? {};\n },\n ownKeys() {\n return Reflect.ownKeys(runtimeRobotResources);\n },\n getOwnPropertyDescriptor(_target, robot) {\n if (typeof robot !== 'string' || !(robot in runtimeRobotResources)) return undefined;\n return { enumerable: true, configurable: true };\n },\n }) as RobotResourceCategory<TKey>;\n}\n\nexport const RobotResources: RobotResourceRegistry = new Proxy(runtimeRobotResources, {\n get(target, robot) {\n if (typeof robot !== 'string') return undefined;\n return target[robot] ?? createEmptyRuntimeResources();\n },\n ownKeys(target) {\n return Reflect.ownKeys(target);\n },\n getOwnPropertyDescriptor(target, robot) {\n if (typeof robot !== 'string' || !(robot in target)) return undefined;\n return { enumerable: true, configurable: true };\n },\n}) as RobotResourceRegistry;\n\nexport const RobotActuators: RobotResourceCategory<'actuators'> = createResourceCategory('actuators');\nexport const RobotSensors: RobotResourceCategory<'sensors'> = createResourceCategory('sensors');\nexport const RobotBodies: RobotResourceCategory<'bodies'> = createResourceCategory('bodies');\nexport const RobotJoints: RobotResourceCategory<'joints'> = createResourceCategory('joints');\nexport const RobotSites: RobotResourceCategory<'sites'> = createResourceCategory('sites');\nexport const RobotGeoms: RobotResourceCategory<'geoms'> = createResourceCategory('geoms');\nexport const RobotKeyframes: RobotResourceCategory<'keyframes'> = createResourceCategory('keyframes');\nexport const RobotCameras: RobotResourceCategory<'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_rgba: Float32Array;\n\n // Mesh\n mesh_vertadr: Int32Array;\n mesh_vertnum: Int32Array;\n mesh_faceadr: Int32Array;\n mesh_facenum: Int32Array;\n mesh_vert: Float32Array;\n mesh_face: Int32Array;\n mesh_normal: Float32Array;\n\n // Site\n site_bodyid: Int32Array;\n\n // Actuator\n actuator_trnid: Int32Array;\n actuator_ctrlrange: Float64Array;\n actuator_trntype: Int32Array;\n actuator_gainprm: Float64Array;\n actuator_biasprm: Float64Array;\n\n // Sensor\n sensor_type: Int32Array;\n sensor_dim: Int32Array;\n sensor_adr: Int32Array;\n sensor_objtype: Int32Array;\n sensor_objid: Int32Array;\n\n // Keyframe\n key_qpos: Float64Array;\n key_ctrl: Float64Array;\n key_time: Float64Array;\n key_qvel: Float64Array;\n\n // Light\n light_pos: Float64Array;\n light_dir: Float64Array;\n light_diffuse: Float32Array;\n light_specular: Float32Array;\n light_type: Int32Array;\n light_active: Uint8Array;\n light_castshadow: Uint8Array;\n light_attenuation: Float32Array;\n light_cutoff: Float32Array;\n light_exponent: Float32Array;\n light_intensity: Float32Array;\n\n // Camera\n cam_bodyid?: Int32Array;\n cam_pos?: Float64Array;\n cam_quat?: Float64Array;\n cam_fovy?: Float64Array;\n\n // Tendon\n ten_wrapadr: Int32Array;\n ten_wrapnum: Int32Array;\n ten_range: Float64Array;\n ten_rgba: Float32Array;\n ten_width: Float64Array;\n\n // Flex\n flex_vertadr: Int32Array;\n flex_vertnum: Int32Array;\n flex_faceadr: Int32Array;\n flex_facenum: Int32Array;\n flex_face: Int32Array;\n flex_rgba: Float32Array;\n\n // Model options\n opt: {\n timestep: number;\n gravity: Float64Array;\n integrator: number;\n [key: string]: unknown;\n };\n\n delete: () => void;\n [key: string]: unknown;\n}\n\n/**\n * Minimal interface for MuJoCo Data to avoid 'any'.\n */\nexport interface MujocoData {\n time: number;\n qpos: Float64Array;\n qvel: Float64Array;\n ctrl: Float64Array;\n act: Float64Array;\n xpos: Float64Array;\n xquat: Float64Array;\n xfrc_applied: Float64Array;\n qfrc_applied: Float64Array;\n qfrc_bias: Float64Array;\n site_xpos: Float64Array;\n site_xmat: Float64Array;\n cam_xpos?: Float64Array;\n cam_xmat?: Float64Array;\n xmat?: Float64Array;\n sensordata: Float64Array;\n ncon: number;\n contact: MujocoContactArray;\n cvel: Float64Array;\n cfrc_ext: Float64Array;\n ten_length: Float64Array;\n wrap_xpos: Float64Array;\n ten_wrapadr: Int32Array;\n flexvert_xpos: Float64Array;\n geom_xpos: Float64Array;\n geom_xmat: Float64Array;\n delete: () => void;\n [key: string]: unknown;\n}\n\n/**\n * Minimal interface for the MuJoCo WASM Module.\n */\nexport interface MujocoModule {\n MjModel: {\n from_xml_path?: (path: string) => MujocoModel;\n from_xml_string?: (xml: string, vfs?: unknown) => MujocoModel;\n loadFromXML?: (path: string) => MujocoModel;\n [key: string]: unknown;\n };\n MjData: new (model: MujocoModel) => MujocoData;\n MjvOption: new () => { delete: () => void; [key: string]: unknown };\n mj_forward: (m: MujocoModel, d: MujocoData) => void;\n mj_step: (m: MujocoModel, d: MujocoData) => void;\n mj_resetData: (m: MujocoModel, d: MujocoData) => void;\n mj_step1: (m: MujocoModel, d: MujocoData) => void;\n mj_step2: (m: MujocoModel, d: MujocoData) => void;\n mj_applyFT: (\n model: MujocoModel,\n data: MujocoData,\n force: Float64Array,\n torque: Float64Array,\n point: Float64Array,\n bodyId: number,\n qfrc_target: Float64Array\n ) => void;\n mj_ray: (\n model: MujocoModel,\n data: MujocoData,\n pnt: Float64Array,\n vec: Float64Array,\n geomgroup: Uint8Array | null,\n flg_static: number,\n bodyexclude: number,\n geomid: Int32Array\n ) => number;\n mj_name2id: (model: MujocoModel, type: number, name: string) => number;\n mjtObj: Record<string, number>;\n mjtGeom: Record<string, number | {value: number}>;\n mjtJoint: Record<string, number | {value: number}>;\n mjtSensor: Record<string, number | {value: number}>;\n FS: {\n writeFile: (path: string, content: string | Uint8Array) => void;\n readFile: (path: string, opts?: { encoding: string }) => string | Uint8Array;\n mkdir: (path: string) => void;\n unmount: (path: string) => void;\n };\n [key: string]: unknown;\n}\n\n// ---- Scene Configuration ----\n\nexport interface SceneObject {\n name: string;\n type: 'box' | 'sphere' | 'cylinder';\n size: [number, number, number];\n position: [number, number, number];\n rgba: [number, number, number, number];\n mass?: number;\n freejoint?: boolean;\n friction?: string;\n solref?: string;\n solimp?: string;\n condim?: number;\n /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n group?: number;\n}\n\nexport interface XmlPatch {\n target: string;\n inject?: string;\n injectAfter?: string;\n replace?: [string, string];\n}\n\nexport type LocalMujocoFile = File;\n\nexport interface LoadFromFilesOptions {\n /** Entry MJCF/URDF file. Inferred from scene.xml, model.xml, robot.xml, or the first XML/URDF file when omitted. */\n sceneFile?: string;\n /** Additional MJCF environment XML files merged into the entry scene before MuJoCo compilation. */\n environmentFiles?: string[];\n homeJoints?: number[];\n xmlPatches?: XmlPatch[];\n sceneObjects?: SceneObject[];\n onReset?: (input: ResetCallbackInput) => void;\n}\n\nexport interface SceneConfig {\n /** Base URL for fetching model files. The loader fetches `src + sceneFile` and follows dependencies. */\n src: string;\n /** Entry MJCF XML or URDF file name, e.g. 'scene.xml' or 'robot.urdf'. */\n sceneFile: string;\n /** Browser-selected files for local MJCF/URDF loading. Preserves webkitRelativePath when available. */\n files?: readonly LocalMujocoFile[];\n /**\n * Additional MJCF environment XML files merged into the entry scene before compilation.\n *\n * Use this for static collision/physics layers such as a Gaussian-splat\n * environment's proxy `scene.xml`; render the splat itself as a separate\n * visual layer.\n */\n environmentFiles?: string[];\n sceneObjects?: SceneObject[];\n homeJoints?: number[];\n xmlPatches?: XmlPatch[];\n onReset?: (input: ResetCallbackInput) => void;\n}\n\n// ---- IK Controller Config ----\n\nexport type ResourceSelector<TInfo, TName extends string = string> =\n | TName\n | readonly TName[]\n | RegExp\n | ((info: TInfo) => boolean);\n\nexport interface IkConfig {\n /** MuJoCo site name for IK target. */\n siteName: Sites;\n /**\n * Explicit joints for IK. When omitted, the controller infers scalar hinge/slide\n * joints by walking from the site body to the model root.\n */\n joints?: ResourceSelector<JointInfo, Joints>;\n /** Explicit actuators for IK control output. */\n actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n /**\n * Number of joints to solve for, assuming legacy contiguous qpos/ctrl layout\n * starting at index 0. Prefer inferred IK or `joints`/`actuators`.\n */\n numJoints?: number;\n /** Custom IK solver. When omitted, uses built-in Damped Least-Squares solver. */\n ikSolveFn?: IKSolveFn;\n /** DLS damping. Default: 0.01. */\n damping?: number;\n /** Max solver iterations. Default: 50. */\n maxIterations?: number;\n}\n\nexport interface IkContextValue {\n ikEnabledRef: React.RefObject<boolean>;\n ikCalculatingRef: React.RefObject<boolean>;\n ikTargetRef: React.RefObject<THREE.Group>;\n siteIdRef: React.RefObject<number>;\n setIkEnabled: (enabled: boolean) => void;\n moveTarget: (pos: THREE.Vector3, duration?: number) => void;\n syncTargetToSite: () => void;\n solveIK: (input: IkSolveInput) => number[] | null;\n getGizmoStats: () => { pos: THREE.Vector3; rot: THREE.Euler } | null;\n}\n\nexport interface SceneMarker {\n id: number;\n position: THREE.Vector3;\n label: string;\n}\n\n// ---- Physics Config (spec 1.1) ----\n\nexport interface PhysicsConfig {\n gravity?: [number, number, number];\n timestep?: number;\n substeps?: number;\n paused?: boolean;\n speed?: number;\n}\n\n// ---- IK ----\n\nexport type IKSolveFn = (\n input: IkSolveInput\n) => number[] | null;\n\nexport interface IkSolveInput {\n position: THREE.Vector3;\n quaternion: THREE.Quaternion;\n currentQ: number[];\n context?: IKSolveContext;\n}\n\nexport interface IKSolveContext {\n model: MujocoModel;\n data: MujocoData;\n siteId: number;\n controlGroup: ControlGroupInfo;\n}\n\n// ---- Callbacks ----\n\nexport interface PhysicsStepInput {\n model: MujocoModel;\n data: MujocoData;\n}\n\nexport interface ResetCallbackInput extends PhysicsStepInput {}\n\nexport interface ReadyCallbackInput {\n api: MujocoSimAPI;\n}\n\nexport interface StepCallbackInput {\n time: number;\n model: MujocoModel;\n data: MujocoData;\n}\n\nexport interface SelectionCallbackInput {\n bodyId: number;\n name: string;\n}\n\nexport type PhysicsStepCallback = (input: PhysicsStepInput) => void;\n\n// ---- State Management (spec 4.1) ----\n\nexport interface StateSnapshot {\n time: number;\n qpos: Float64Array;\n qvel: Float64Array;\n ctrl: Float64Array;\n act: Float64Array;\n qfrc_applied: Float64Array;\n}\n\n// ---- Model Introspection (spec 5.1) ----\n\nexport interface BodyInfo {\n id: number;\n name: string;\n mass: number;\n parentId: number;\n}\n\nexport interface JointInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n range: [number, number];\n limited: boolean;\n bodyId: number;\n qposAdr: number;\n dofAdr: number;\n}\n\nexport interface GeomInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n size: [number, number, number];\n bodyId: number;\n}\n\nexport interface SiteInfo {\n id: number;\n name: string;\n bodyId: number;\n}\n\nexport interface ActuatorInfo {\n id: number;\n name: string;\n range: [number, number];\n}\n\nexport interface ActuatedJointInfo extends JointInfo {\n actuatorId: number;\n actuatorName: string;\n ctrlAdr: number;\n ctrlRange: [number, number];\n}\n\nexport interface ControlJointInfo extends JointInfo {\n actuatorId: number | null;\n actuatorName: string | null;\n ctrlAdr: number | null;\n ctrlRange: [number, number] | null;\n}\n\nexport interface ControlGroupSelector {\n /** Infer a kinematic chain from a MuJoCo site. */\n siteName?: Sites;\n /** Infer a kinematic chain from a body. */\n bodyName?: Bodies;\n /** Select joints by name, names, regex, or predicate. */\n joints?: ResourceSelector<JointInfo, Joints>;\n /** Select actuators by name, names, regex, or predicate. */\n actuators?: ResourceSelector<ActuatorInfo, Actuators>;\n}\n\nexport interface ControlGroupInfo {\n /** Joints in solve/control order. */\n joints: ControlJointInfo[];\n /** Actuators in control output order. */\n actuators: ActuatorInfo[];\n /** qpos addresses for scalar hinge/slide joints. */\n qposAdr: number[];\n /** dof addresses for scalar hinge/slide joints. */\n dofAdr: number[];\n /** ctrl addresses matching writable actuators. */\n ctrlAdr: number[];\n readQpos(data: MujocoData): Float64Array;\n readCtrl(data: MujocoData): Float64Array;\n writeQpos(data: MujocoData, values: ArrayLike<number>): void;\n writeCtrl(data: MujocoData, values: ArrayLike<number>): void;\n}\n\nexport interface SensorInfo {\n id: number;\n name: string;\n type: number;\n typeName: string;\n dim: number;\n adr: number;\n}\n\nexport interface CameraInfo {\n id: number;\n name: string;\n bodyId: number;\n fov: number | null;\n position: [number, number, number] | null;\n quaternion: [number, number, number, number] | null;\n}\n\n// ---- Contacts (spec 2.4, 2.5) ----\n\nexport interface ContactInfo {\n geom1: number;\n geom1Name: string;\n geom2: number;\n geom2Name: string;\n pos: [number, number, number];\n depth: number;\n}\n\n// ---- Raycast (spec 7.1) ----\n\nexport interface RayHit {\n point: THREE.Vector3;\n bodyId: number;\n geomId: number;\n distance: number;\n}\n\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}\n\nexport interface PolicyActionInput extends PolicyInferenceInput {\n action: PolicyVector;\n}\n\nexport interface PolicyConfig {\n frequency: number;\n enabled?: 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) => PolicyVector;\n onAction: (input: PolicyActionInput) => void;\n}\n\n// ---- Observation Builder ----\n\nexport type ObservationOutput = 'float32' | 'float64';\n\nexport interface ObservationConfig {\n /** Include scalar simulation time. */\n time?: boolean;\n /** Include all qpos values. */\n qpos?: boolean;\n /** Include all qvel values. */\n qvel?: boolean;\n /** Include all ctrl values. */\n ctrl?: boolean;\n /** Include all actuator activation values. */\n act?: boolean;\n /** Include all raw sensordata values. */\n sensordata?: boolean;\n /** Include named sensor values in the configured order. */\n sensors?: readonly Sensors[];\n /** Include named site world positions in the configured order. */\n sites?: readonly Sites[];\n /** Include world gravity projected into each named body's local frame. */\n projectedGravity?: Bodies | readonly Bodies[];\n /** Output array type. Defaults to Float32Array. */\n output?: ObservationOutput;\n}\n\nexport interface ObservationLayoutItem {\n name: string;\n start: number;\n size: number;\n}\n\nexport interface ObservationResult {\n values: Float32Array | Float64Array;\n layout: ObservationLayoutItem[];\n}\n\nexport interface ObservationHandle {\n /** Read a fresh observation from the current live MuJoCo model/data refs. */\n read(): ObservationResult;\n /** Read just the vector values for policy inference. */\n readValues(): Float32Array | Float64Array;\n}\n\n// ---- Debug Component (spec 6.1) ----\n\nexport interface DebugProps {\n showGeoms?: boolean;\n showSites?: boolean;\n showJoints?: boolean;\n 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 interface DragInteractionProps {\n stiffness?: number;\n showArrow?: boolean;\n}\n\nexport interface SceneLightsProps {\n /** Override intensity for all MJCF lights. Default: 1.0. */\n intensity?: number;\n}\n\n// ---- Visual scenarios / 3DGS composition ----\n\nexport type ScenarioLightingPreset = 'studio' | 'warehouse' | 'low-light' | 'splat';\nexport type SplatFormat = 'spz' | 'ply' | 'splat';\nexport type SplatRendererKind = 'spark' | 'custom';\nexport type SplatCollisionPrimitive = 'plane' | 'box' | 'sphere' | 'capsule' | 'mesh';\n\nexport interface ScenarioCameraConfig {\n jitter?: number;\n exposure?: number;\n noise?: number;\n blur?: number;\n}\n\nexport interface ScenarioMaterialConfig {\n randomizeObjectColors?: boolean;\n randomizeTableMaterial?: boolean;\n roughness?: number;\n metalness?: number;\n}\n\nexport interface SplatAssetConfig {\n src: string;\n /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n format?: SplatFormat;\n /** Optional renderer hint. The library does not import renderer-specific code. */\n renderer?: SplatRendererKind;\n}\n\nexport interface SplatScenarioConfig {\n enabled: boolean;\n /** Common browser-friendly splat format. Renderer-specific loaders may accept more. */\n format?: SplatFormat;\n src?: string;\n requiresCollisionProxy?: boolean;\n collisionProxy?: SplatCollisionProxyConfig | null;\n}\n\nexport interface SplatCollisionProxyConfig {\n /** MJCF/XML file or artifact path that provides physics collision for the visual splat. */\n xmlPath?: string;\n /** Human-readable status for authoring and validation flows. */\n status?: 'missing' | 'planned' | 'generated' | 'validated';\n /** Primitive proxy shapes expected in the MJCF collision proxy. */\n primitives?: SplatCollisionPrimitive[];\n /** Optional notes that should travel with scene variants and rollout metadata. */\n notes?: string[];\n}\n\nexport interface PairedSplatEnvironmentConfig {\n id: string;\n label: string;\n description?: string;\n /** Visual-only Gaussian splat asset. */\n splat: SplatAssetConfig;\n /** Optional MJCF/XML contact geometry paired with the visual splat. */\n collisionProxy?: SplatCollisionProxyConfig & { xmlPath: string };\n}\n\nexport const SplatEnvironmentReadinessStatus = {\n Disabled: 'disabled',\n MissingSplat: 'missing-splat',\n MissingCollisionProxy: 'missing-collision-proxy',\n UnsupportedFormat: 'unsupported-format',\n Ready: 'ready',\n} as const;\n\nexport type SplatEnvironmentReadinessStatus =\n (typeof SplatEnvironmentReadinessStatus)[keyof typeof SplatEnvironmentReadinessStatus];\n\nexport interface SplatEnvironmentReadiness {\n status: SplatEnvironmentReadinessStatus;\n ready: boolean;\n requiresCollisionProxy: boolean;\n missing: Array<'splat' | 'collisionProxy'>;\n format?: SplatFormat;\n renderer?: SplatRendererKind;\n message: string;\n}\n\nexport interface SplatEnvironmentMetadataInput {\n environment?: PairedSplatEnvironmentConfig;\n scenario?: VisualScenarioConfig;\n renderer?: SplatRendererKind;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n}\n\nexport interface SplatEnvironmentMetadata {\n src?: string;\n format: SplatFormat;\n collisionProxy?: SplatCollisionProxyConfig;\n readiness: SplatEnvironmentReadiness;\n userData: Record<string, unknown>;\n}\n\nexport interface ResolvedScenarioCameraConfig {\n jitter: number;\n exposure: number;\n noise: number;\n blur: number;\n}\n\nexport interface ResolvedScenarioMaterialConfig {\n randomizeObjectColors: boolean;\n randomizeTableMaterial: boolean;\n roughness?: number;\n metalness?: number;\n}\n\nexport interface VisualScenarioExecutionContext {\n scenarioId: string;\n scenarioLabel: string;\n variantId?: string;\n seed: number;\n lighting: ScenarioLightingPreset;\n environment?: string;\n camera: ResolvedScenarioCameraConfig;\n materials: ResolvedScenarioMaterialConfig;\n splatEnabled: boolean;\n splatSrc?: string;\n splatFormat: SplatFormat;\n splatRenderer?: SplatRendererKind;\n collisionProxyXmlPath?: string;\n collisionProxyStatus?: SplatCollisionProxyConfig['status'];\n collisionProxyPrimitives: SplatCollisionPrimitive[];\n readiness: SplatEnvironmentReadiness;\n transformSource: 'visualScenario.camera';\n}\n\nexport interface VisualScenarioExecutionContextInput {\n scenario?: VisualScenarioConfig;\n environment?: PairedSplatEnvironmentConfig;\n renderer?: SplatRendererKind;\n variantId?: string;\n enabled?: boolean;\n}\n\nexport type SplatSceneInput =\n | PairedSplatEnvironmentConfig\n | VisualScenarioConfig\n | undefined\n | null;\n\nexport interface SplatSceneConfigInput {\n sceneConfig: SceneConfig;\n scenario?: VisualScenarioConfig;\n environment?: PairedSplatEnvironmentConfig;\n enabled?: boolean;\n renderer?: SplatRendererKind;\n}\n\nexport interface SplatSceneConfigState {\n environment: PairedSplatEnvironmentConfig | undefined;\n sceneConfig: SceneConfig;\n enabled: boolean;\n readiness: SplatEnvironmentReadiness;\n}\n\nexport interface VisualScenarioConfig {\n id?: string;\n label?: string;\n seed?: number;\n lighting?: ScenarioLightingPreset;\n environment?: string;\n camera?: ScenarioCameraConfig;\n materials?: ScenarioMaterialConfig;\n splat?: SplatScenarioConfig | null;\n}\n\nexport interface ScenarioLightingProps {\n preset?: ScenarioLightingPreset;\n intensity?: number;\n castShadow?: boolean;\n}\n\nexport interface SplatEnvironmentProps extends Omit<ThreeElements['group'], 'ref'> {\n environment?: PairedSplatEnvironmentConfig;\n scenario?: VisualScenarioConfig;\n renderer?: SplatRendererKind;\n src?: string;\n format?: SplatFormat;\n collisionProxy?: ReactNode;\n collisionProxyMetadata?: SplatCollisionProxyConfig;\n showPlaceholder?: boolean;\n}\n\nexport interface VisualScenarioEffectsProps {\n scenario?: VisualScenarioConfig;\n enabled?: boolean;\n applyBackground?: boolean;\n applyFog?: boolean;\n applyRenderer?: boolean;\n applyMaterials?: boolean;\n background?: THREE.ColorRepresentation;\n fogNear?: number;\n fogFar?: number;\n materialFilter?: (input: VisualScenarioMaterialFilterInput) => boolean;\n}\n\nexport interface VisualScenarioMaterialFilterInput {\n object: THREE.Object3D;\n material: THREE.Material;\n}\n\nexport type TrajectoryInput = TrajectoryFrame[] | number[][];\n\nexport interface TrajectoryPlayerProps {\n trajectory: TrajectoryInput;\n fps?: number;\n speed?: number;\n loop?: boolean;\n playing?: boolean;\n mode?: 'kinematic' | 'physics';\n onFrame?: (input: TrajectoryFrameCallbackInput) => void;\n onComplete?: () => void;\n onStateChange?: (input: TrajectoryStateChangeInput) => void;\n}\n\nexport interface TrajectoryFrameCallbackInput {\n frameIndex: number;\n frame: TrajectoryFrame | number[] | undefined;\n}\n\nexport interface TrajectoryStateChangeInput {\n state: PlaybackState;\n}\n\nexport interface SelectionHighlightProps {\n bodyId: number | null;\n color?: string;\n emissiveIntensity?: number;\n}\n\nexport interface ContactListenerProps {\n body: Bodies;\n onContactEnter?: (info: ContactInfo) => void;\n onContactExit?: (info: ContactInfo) => void;\n}\n\nexport interface BodyProps {\n name: Bodies;\n type: 'box' | 'sphere' | 'cylinder';\n size: [number, number, number];\n position?: [number, number, number];\n rgba?: [number, number, number, number];\n mass?: number;\n freejoint?: boolean;\n friction?: string;\n solref?: string;\n solimp?: string;\n condim?: number;\n /** MuJoCo geom group. Group 3 is conventionally used for collision-only helper geoms. */\n group?: number;\n children?: ReactNode;\n}\n\n// ---- Public API (spec: full surface) ----\n\nexport interface MujocoSimAPI {\n // State\n readonly status: 'loading' | 'ready' | 'error';\n readonly config: SceneConfig;\n\n // Simulation control (spec 1.1, 1.2, 1.3)\n reset(): void;\n setSpeed(multiplier: number): void;\n togglePause(): boolean;\n setPaused(paused: boolean): void;\n step(n?: number): void;\n getTime(): number;\n getTimestep(): number;\n applyKeyframe(nameOrIndex: Keyframes | number): void;\n\n // State management (spec 4.1, 4.2, 4.3)\n saveState(): StateSnapshot;\n restoreState(snapshot: StateSnapshot): void;\n setQpos(values: Float64Array | number[]): void;\n setQvel(values: Float64Array | number[]): void;\n getQpos(): Float64Array;\n getQvel(): Float64Array;\n\n // Actuator / control (spec 3.1)\n setCtrl(nameOrValues: Actuators | Record<Actuators, number>, value?: number): void;\n getCtrl(): Float64Array;\n getControlMap(): ControlGroupInfo;\n getActuatedJoints(): ActuatedJointInfo[];\n resolveControlGroup(selector: ControlGroupSelector): ControlGroupInfo | null;\n\n // Force application (spec 8.1)\n applyForce(bodyName: Bodies, force: THREE.Vector3, point?: THREE.Vector3): void;\n applyTorque(bodyName: Bodies, torque: THREE.Vector3): void;\n setExternalForce(bodyName: Bodies, force: THREE.Vector3, torque: THREE.Vector3): void;\n applyGeneralizedForce(values: Float64Array | number[]): void;\n\n // Sensors (spec 2.1)\n getSensorData(name: Sensors): Float64Array | null;\n\n // Contacts (spec 2.4)\n getContacts(): ContactInfo[];\n\n // Model introspection (spec 5.1, 5.2)\n getBodies(): BodyInfo[];\n getJoints(): JointInfo[];\n getGeoms(): GeomInfo[];\n getSites(): SiteInfo[];\n getActuators(): ActuatorInfo[];\n getSensors(): SensorInfo[];\n getCameras(): CameraInfo[];\n\n // Model parameters (spec 5.3)\n getModelOption(): ModelOptions;\n setGravity(g: [number, number, number]): void;\n setTimestep(dt: number): void;\n\n // Raycasting (spec 7.1)\n raycast(origin: THREE.Vector3, direction: THREE.Vector3, maxDist?: number): RayHit | null;\n\n // Keyframes (spec 4.2)\n getKeyframeNames(): string[];\n getKeyframeCount(): number;\n\n // Model loading (spec 9.1)\n loadScene(newConfig: SceneConfig): Promise<void>;\n loadFromFiles(files: FileList | readonly LocalMujocoFile[], options?: LoadFromFilesOptions): Promise<void>;\n addBody(body: SceneObject): Promise<void>;\n removeBody(name: Bodies): Promise<void>;\n recompile(patches?: XmlPatch[]): Promise<void>;\n\n // Canvas\n getCanvas(): HTMLCanvasElement | null;\n getCanvasSnapshot(width?: number, height?: number, mimeType?: string): string;\n captureFrame(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureResult>;\n captureFrameBlob(options?: MujocoFrameCaptureOptions): Promise<FrameCaptureBlobResult>;\n captureCameraFrame(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;\n captureCameraFrameBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;\n recordCameraSequence(options: CameraFrameSequenceOptions): Promise<CameraFrameSequenceResult>;\n project2DTo3D(\n x: number,\n y: number,\n cameraPos: THREE.Vector3,\n lookAt: THREE.Vector3\n ): { point: THREE.Vector3; bodyId: number; geomId: number } | null;\n\n // Domain randomization (spec 10.3)\n setBodyMass(name: Bodies, mass: number): void;\n setGeomFriction(name: Geoms, friction: [number, number, number]): void;\n setGeomSize(name: Geoms, size: [number, number, number]): void;\n\n // Internal refs for advanced use\n readonly mjModelRef: React.RefObject<MujocoModel | null>;\n readonly mjDataRef: React.RefObject<MujocoData | null>;\n}\n\nexport type FrameCaptureStatus = 'idle' | 'capturing' | 'captured' | 'error';\n\nexport type FrameCaptureTarget =\n | HTMLCanvasElement\n | HTMLElement\n | null\n | undefined;\n\nexport type FrameCaptureTargetRef =\n React.RefObject<HTMLCanvasElement | HTMLElement | null>;\n\nexport interface FrameCaptureOptions {\n target?: FrameCaptureTarget | FrameCaptureTargetRef;\n type?: string;\n quality?: number;\n waitForAnimationFrame?: boolean;\n}\n\nexport type MujocoFrameCaptureOptions = Omit<FrameCaptureOptions, 'target'>;\n\nexport interface FrameCaptureResult {\n canvas: HTMLCanvasElement;\n dataUrl: string;\n type: string;\n}\n\nexport interface FrameCaptureBlobResult {\n canvas: HTMLCanvasElement;\n blob: Blob;\n type: string;\n}\n\nexport interface FrameCaptureAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isCapturing: boolean;\n capture: (options?: FrameCaptureOptions) => Promise<FrameCaptureResult>;\n captureBlob: (\n options?: FrameCaptureOptions\n ) => Promise<FrameCaptureBlobResult>;\n reset: () => void;\n}\n\nexport type CameraFrameCaptureVector3 =\n | THREE.Vector3\n | readonly [number, number, number];\n\nexport type CameraFrameCaptureQuaternion =\n | THREE.Quaternion\n | readonly [number, number, number, number];\n\nexport interface CameraFrameCaptureOptions {\n /** Existing Three camera to clone before applying pose overrides. */\n camera?: THREE.Camera;\n /** Named MuJoCo `<camera>` to render from when available in the loaded model. */\n cameraName?: Cameras;\n /** Named MuJoCo site to use as the rendered camera pose. Useful for robot-mounted optical frames. */\n siteName?: Sites;\n /** Named MuJoCo body to use as the rendered camera pose. */\n bodyName?: Bodies;\n position?: CameraFrameCaptureVector3;\n lookAt?: CameraFrameCaptureVector3;\n quaternion?: CameraFrameCaptureQuaternion;\n up?: CameraFrameCaptureVector3;\n width?: number;\n height?: number;\n type?: string;\n quality?: number;\n fov?: number;\n near?: number;\n far?: number;\n /** Provenance for the camera pose used by the capture. Usually set by the MuJoCo provider. */\n source?: CameraFrameCaptureSource;\n}\n\nexport type CameraFrameCaptureSource =\n | { kind: 'mujoco-camera'; cameraName: Cameras }\n | { kind: 'mujoco-site'; siteName: Sites }\n | { kind: 'mujoco-body'; bodyName: Bodies }\n | { kind: 'custom-camera' }\n | { kind: 'explicit-pose' }\n | { kind: 'fallback-camera' };\n\nexport interface CameraFrameCaptureResult {\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n dataUrl: string;\n type: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureBlobResult {\n canvas: HTMLCanvasElement;\n camera: THREE.Camera;\n blob: Blob;\n type: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n}\n\nexport interface CameraFrameCaptureAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isCapturing: boolean;\n capture: (\n options?: CameraFrameCaptureOptions\n ) => Promise<CameraFrameCaptureResult>;\n captureBlob: (\n options?: CameraFrameCaptureOptions\n ) => Promise<CameraFrameCaptureBlobResult>;\n reset: () => void;\n}\n\nexport interface CameraFrameSequenceCamera extends CameraFrameCaptureOptions {\n key: string;\n}\n\nexport interface CameraFrameSequenceFrame {\n frameIndex: number;\n time: number;\n cameras: Record<string, CameraFrameCaptureResult>;\n}\n\nexport interface CameraFrameSequenceCameraSummary {\n key: string;\n width: number;\n height: number;\n source: CameraFrameCaptureSource;\n frameCount: number;\n firstFrameIndex: number | null;\n lastFrameIndex: number | null;\n firstTimestamp: number | null;\n lastTimestamp: number | null;\n}\n\nexport interface CameraFrameSequenceSampleInput extends PhysicsStepInput {\n frameIndex: number;\n time: number;\n}\n\nexport interface CameraFrameSequenceStepInput extends PhysicsStepInput {\n frameIndex: number;\n stepIndex: number;\n time: number;\n}\n\nexport interface CameraFrameSequenceOptions {\n cameras: readonly CameraFrameSequenceCamera[];\n frames: number;\n /** Number of MuJoCo steps between captured frames. Use 0 for static camera provenance captures. */\n stepsPerFrame?: number;\n reset?: boolean;\n captureInitialFrame?: boolean;\n retainFrames?: boolean;\n /**\n * Require each recorded stream to resolve from exactly one mounted MuJoCo\n * camera/site/body selector. Defaults to true because sequence recording is\n * intended for dataset/policy camera streams.\n */\n requireMountedSources?: boolean;\n signal?: AbortSignal;\n /** Called after stepping and before image capture for this frame. Use this to record synchronized state/action rows. */\n onSample?: (input: CameraFrameSequenceSampleInput) => void | Promise<void>;\n /** Called before each MuJoCo step inside sequence recording. Use this to apply policy/control actions. */\n onBeforeStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n /** Called after each MuJoCo step inside sequence recording. Use this for step-level telemetry. */\n onAfterStep?: (input: CameraFrameSequenceStepInput) => void | Promise<void>;\n onFrame?: (frame: CameraFrameSequenceFrame) => void | Promise<void>;\n}\n\nexport interface CameraFrameSequenceResult {\n frames: CameraFrameSequenceFrame[];\n cameraKeys: string[];\n cameraSummaries: Record<string, CameraFrameSequenceCameraSummary>;\n frameCount: number;\n}\n\nexport interface CameraFrameSequenceRecorderAPI {\n status: FrameCaptureStatus;\n error: Error | null;\n isRecording: boolean;\n record: (options: CameraFrameSequenceOptions) => Promise<CameraFrameSequenceResult>;\n reset: () => void;\n}\n\n// ---- Canvas Props ----\n\nexport type MujocoCanvasProps = Omit<CanvasProps, 'onError'> & {\n config: SceneConfig;\n /** R3F content rendered while the MuJoCo WASM module is still loading. */\n loadingFallback?: ReactNode;\n onReady?: (input: ReadyCallbackInput) => void;\n onError?: (error: Error) => void;\n onStep?: (input: StepCallbackInput) => void;\n onSelection?: (input: SelectionCallbackInput) => void;\n // Declarative physics config (spec 1.1)\n gravity?: [number, number, number];\n timestep?: number;\n substeps?: number;\n paused?: boolean;\n speed?: number;\n interpolate?: boolean;\n};\n\n// ---- Hook Return Types ----\n\nexport interface SitePositionResult {\n position: React.RefObject<THREE.Vector3>;\n quaternion: React.RefObject<THREE.Quaternion>;\n}\n\nexport interface MujocoContextValue {\n mujoco: MujocoModule | null;\n status: 'loading' | 'ready' | 'error';\n error: string | null;\n}\n\n/** @deprecated Use `SensorHandle` instead. */\nexport interface SensorResult {\n value: React.RefObject<Float64Array>;\n size: number;\n}\n\nexport interface CtrlHandle {\n /** Read the current ctrl value. */\n read(): number;\n /** Write a ctrl value (goes directly to data.ctrl). */\n write(value: number): void;\n /** Actuator name. */\n name: Actuators;\n /** Actuator control range [min, max]. */\n range: [number, number];\n}\n\nexport interface SensorHandle {\n /** Read the current sensor data. */\n read(): Float64Array;\n /** Sensor dimensionality. */\n dim: number;\n /** Sensor name. */\n name: Sensors;\n}\n\nexport interface BodyStateResult {\n position: React.RefObject<THREE.Vector3>;\n quaternion: React.RefObject<THREE.Quaternion>;\n linearVelocity: React.RefObject<THREE.Vector3>;\n angularVelocity: React.RefObject<THREE.Vector3>;\n}\n\nexport interface JointStateResult {\n position: React.RefObject<number | Float64Array>;\n velocity: React.RefObject<number | Float64Array>;\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"]}
package/dist/index.d.ts CHANGED
@@ -1,6 +1,6 @@
1
1
  import * as react_jsx_runtime from 'react/jsx-runtime';
2
- 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, a6 as FrameCaptureOptions, a7 as FrameCaptureResult, a8 as FrameCaptureBlobResult, a9 as FrameCaptureAPI, aa as CameraFrameCaptureOptions, ab as CameraFrameCaptureAPI, ac as CameraFrameSequenceRecorderAPI, ad as CameraFrameCaptureResult, ae as CameraFrameCaptureBlobResult } from './types-S8ggQY2n.js';
3
- export { af as BodyInfo, ag as CameraFrameCaptureQuaternion, ah as CameraFrameCaptureVector3, ai as CameraFrameSequenceCamera, aj as CameraFrameSequenceFrame, ak as CameraFrameSequenceOptions, al as CameraFrameSequenceResult, am as ControlJointInfo, an as FrameCaptureStatus, ao as FrameCaptureTarget, ap as FrameCaptureTargetRef, aq as Geoms, ar as IKSolveFn, as as IkGizmoDragInput, at as IkSolveInput, au as JointInfo, av as KeyBinding, aw as Keyframes, ax as ModelOptions, ay as MujocoContact, az as MujocoContactArray, aA as MujocoFrameCaptureOptions, aB as ObservationLayoutItem, aC as ObservationOutput, aD as PhysicsConfig, aE as PhysicsStepInput, aF as PolicyActionInput, aG as PolicyInferenceInput, aH as PolicyObservationInput, aI as RayHit, aJ as Register, aK as RegisteredRobotMap, aL as ResetCallbackInput, aM as ResourceSelector, aN as RobotActuators, aO as RobotBodies, aP as RobotGeoms, aQ as RobotJoints, aR as RobotKeyframes, aS as RobotResource, aT as RobotResources, aU as RobotSensors, aV as RobotSites, aW as Robots, aX as ScenarioCameraConfig, aY as ScenarioMaterialConfig, aZ as SceneMarker, a_ as SceneObject, a$ as SensorResult, b0 as SiteInfo, b1 as SplatAssetConfig, b2 as SplatScenarioConfig, b3 as StateSnapshot, b4 as TrajectoryData, b5 as TrajectoryFrameCallbackInput, b6 as VisualScenarioMaterialFilterInput, b7 as XmlPatch, b8 as getContact, b9 as registerRobotResources } from './types-S8ggQY2n.js';
2
+ 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 SplatEnvironmentReadiness, u as SplatCollisionPrimitive, v as SplatEnvironmentReadinessStatus, w as SplatSceneConfigInput, x as SplatSceneConfigState, y as VisualScenarioExecutionContextInput, z as VisualScenarioExecutionContext, E as ScenarioLightingPreset, F as SplatEnvironmentMetadataInput, G as SplatEnvironmentMetadata, H as SplatSceneInput, J as DebugProps, K as GeomInfo, L as ContactListenerProps, T as TrajectoryPlayerProps, N as ActuatorInfo, Q as Sites, U as SitePositionResult, W as Sensors, X as SensorHandle, Y as SensorInfo, Z as Joints, _ as JointStateResult, $ as Bodies, a0 as BodyStateResult, a1 as Actuators, a2 as CtrlHandle, a3 as ContactInfo, a4 as KeyboardTeleopConfig, a5 as PolicyConfig, a6 as PolicyVector, a7 as ObservationHandle, a8 as TrajectoryInput, a9 as TrajectoryStateChangeInput, aa as PlaybackState, ab as TrajectoryFrame, ac as FrameCaptureOptions, ad as FrameCaptureResult, ae as FrameCaptureBlobResult, af as FrameCaptureAPI, ag as CameraFrameCaptureOptions, ah as CameraFrameCaptureAPI, ai as CameraFrameSequenceRecorderAPI, aj as Cameras, ak as CameraFrameSequenceCamera, al as CameraFrameCaptureSource, am as CameraFrameSequenceOptions, an as CameraFrameSequenceResult, ao as CameraFrameCaptureResult, ap as CameraFrameCaptureBlobResult } from './types-BuJ4boaq.js';
3
+ export { aq as BodyInfo, ar as CameraFrameCaptureQuaternion, as as CameraFrameCaptureVector3, at as CameraFrameSequenceCameraSummary, au as CameraFrameSequenceFrame, av as CameraFrameSequenceSampleInput, aw as CameraFrameSequenceStepInput, ax as CameraInfo, ay as ControlJointInfo, az as FrameCaptureStatus, aA as FrameCaptureTarget, aB as FrameCaptureTargetRef, aC as Geoms, aD as IKSolveFn, aE as IkGizmoDragInput, aF as IkSolveInput, aG as JointInfo, aH as KeyBinding, aI as Keyframes, aJ as ModelOptions, aK as MujocoContact, aL as MujocoContactArray, aM as MujocoFrameCaptureOptions, aN as ObservationLayoutItem, aO as ObservationOutput, aP as PhysicsConfig, aQ as PhysicsStepInput, aR as PolicyActionInput, aS as PolicyInferenceInput, aT as PolicyObservationInput, aU as RayHit, aV as Register, aW as RegisteredRobotMap, aX as ResetCallbackInput, aY as ResolvedScenarioCameraConfig, aZ as ResolvedScenarioMaterialConfig, a_ as ResourceSelector, a$ as RobotActuators, b0 as RobotBodies, b1 as RobotCameras, b2 as RobotGeoms, b3 as RobotJoints, b4 as RobotKeyframes, b5 as RobotResource, b6 as RobotResources, b7 as RobotSensors, b8 as RobotSites, b9 as Robots, ba as ScenarioCameraConfig, bb as ScenarioMaterialConfig, bc as SceneMarker, bd as SceneObject, be as SensorResult, bf as SiteInfo, bg as SplatAssetConfig, bh as SplatScenarioConfig, bi as StateSnapshot, bj as TrajectoryData, bk as TrajectoryFrameCallbackInput, bl as VisualScenarioMaterialFilterInput, bm as XmlPatch, bn as getContact, bo as registerRobotResources } from './types-BuJ4boaq.js';
4
4
  import * as React$1 from 'react';
5
5
  import { ThreeElements } from '@react-three/fiber';
6
6
  import * as THREE from 'three';
@@ -367,6 +367,8 @@ declare function SceneLights({ intensity }: SceneLightsProps): null;
367
367
  declare function ScenarioLighting({ preset, castShadow, intensity, }: ScenarioLightingProps): react_jsx_runtime.JSX.Element;
368
368
  declare function getScenarioBackground(preset: ScenarioLightingPreset | undefined, fallback?: string): string;
369
369
  declare function getScenarioCameraPosition(basePosition: readonly [number, number, number], scenario?: Pick<VisualScenarioConfig, 'camera'>): [number, number, number];
370
+ declare function useVisualScenarioExecutionContext({ scenario, environment, renderer, variantId, enabled, }: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext;
371
+ declare function createVisualScenarioExecutionContext({ scenario, environment, renderer, variantId, enabled, }: VisualScenarioExecutionContextInput): VisualScenarioExecutionContext;
370
372
  declare function VisualScenarioEffects(props: VisualScenarioEffectsProps): null;
371
373
  declare function useVisualScenarioEffects({ scenario, enabled, applyBackground, applyFog, applyRenderer, applyMaterials, background, fogNear, fogFar, materialFilter, }: VisualScenarioEffectsProps): void;
372
374
  /**
@@ -379,9 +381,34 @@ declare function useVisualScenarioEffects({ scenario, enabled, applyBackground,
379
381
  declare function SplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, children, showPlaceholder, ...groupProps }: SplatEnvironmentProps): react_jsx_runtime.JSX.Element;
380
382
  declare function useSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, }: SplatEnvironmentMetadataInput): SplatEnvironmentMetadata;
381
383
  /**
382
- * Convert a generic visual scenario splat block into a paired visual/physics
383
- * environment config. Returns undefined until both the splat asset and MJCF
384
- * collision proxy are present.
384
+ * Resolve a visual scenario's paired splat environment and compose its MJCF
385
+ * collision proxy into a MuJoCo scene config.
386
+ *
387
+ * This hook is renderer-agnostic: apps can use it with Spark, another 3DGS
388
+ * renderer, or their own Three scene objects while keeping physics collision
389
+ * files paired with the visual splat metadata.
390
+ */
391
+ declare function useSplatSceneConfig({ sceneConfig, scenario, environment, enabled, renderer, }: SplatSceneConfigInput): SplatSceneConfigState;
392
+ /**
393
+ * Resolve a visual scenario's paired splat environment without requiring React.
394
+ *
395
+ * Use this in codegen, import validators, backend handoff metadata, or app code
396
+ * that needs the same behavior as `useSplatSceneConfig` outside a component.
397
+ */
398
+ declare function createSplatSceneConfig({ sceneConfig, scenario, environment, enabled, renderer, }: SplatSceneConfigInput): SplatSceneConfigState;
399
+ declare function getSplatEnvironmentReadiness({ environment, scenario, renderer, src, format, collisionProxy, enabled, }: {
400
+ environment?: PairedSplatEnvironmentConfig;
401
+ scenario?: Pick<VisualScenarioConfig, 'splat'>;
402
+ renderer?: SplatRendererKind;
403
+ src?: string;
404
+ format?: SplatFormat;
405
+ collisionProxy?: SplatCollisionProxyConfig;
406
+ enabled?: boolean;
407
+ }): SplatEnvironmentReadiness;
408
+ /**
409
+ * Convert a generic visual scenario splat block into a composable splat
410
+ * environment config. Visual-only splats are valid; readiness reports whether
411
+ * a paired MJCF collision proxy is required before training/physics handoff.
385
412
  */
386
413
  declare function createPairedSplatEnvironment(scenario: Pick<VisualScenarioConfig, 'id' | 'label' | 'environment' | 'splat'>, options?: {
387
414
  id?: string;
@@ -399,11 +426,12 @@ declare function createPairedSplatEnvironment(scenario: Pick<VisualScenarioConfi
399
426
  declare function withSplatEnvironment(sceneConfig: SceneConfig, input: SplatSceneInput, options?: {
400
427
  renderer?: SplatRendererKind;
401
428
  }): SceneConfig;
402
- declare function createSplatEnvironmentUserData({ environment, src, format, collisionProxy, }: {
429
+ declare function createSplatEnvironmentUserData({ environment, src, format, collisionProxy, readiness, }: {
403
430
  environment?: PairedSplatEnvironmentConfig;
404
431
  src?: string;
405
432
  format?: SplatFormat;
406
433
  collisionProxy?: SplatCollisionProxyConfig;
434
+ readiness?: SplatEnvironmentReadiness;
407
435
  }): {
408
436
  role: string;
409
437
  environmentId: string | undefined;
@@ -414,12 +442,49 @@ declare function createSplatEnvironmentUserData({ environment, src, format, coll
414
442
  collisionProxyStatus: "missing" | "planned" | "generated" | "validated";
415
443
  collisionProxyXmlPath: string | undefined;
416
444
  collisionProxyPrimitives: SplatCollisionPrimitive[];
445
+ readinessStatus: SplatEnvironmentReadinessStatus | undefined;
446
+ readinessMessage: string | undefined;
417
447
  };
418
448
  declare function createSparkSplatViewerUrl({ viewerUrl, splatSrc, }: {
419
449
  viewerUrl: string;
420
450
  splatSrc: string;
421
451
  }): string;
422
452
 
453
+ type SplatCollisionProxyPreviewVector3 = [number, number, number];
454
+ interface SplatCollisionProxyGeomPreview {
455
+ id: string;
456
+ type: 'box' | 'plane' | 'sphere' | 'capsule' | 'mesh';
457
+ position: SplatCollisionProxyPreviewVector3;
458
+ size: number[];
459
+ }
460
+ interface SplatCollisionProxyPreviewProps extends Omit<ThreeElements['group'], 'ref'> {
461
+ collisionProxy?: SplatCollisionProxyConfig | null;
462
+ xmlText?: string;
463
+ fetchXml?: (xmlPath: string) => Promise<string>;
464
+ color?: string;
465
+ opacity?: number;
466
+ planeColor?: string;
467
+ planeOpacity?: number;
468
+ }
469
+ type SplatCollisionProxyPreviewStatus = 'idle' | 'loading' | 'ready' | 'error';
470
+ interface UseSplatCollisionProxyGeomsOptions {
471
+ collisionProxy?: SplatCollisionProxyConfig | null;
472
+ xmlText?: string;
473
+ fetchXml?: (xmlPath: string) => Promise<string>;
474
+ enabled?: boolean;
475
+ }
476
+ interface SplatCollisionProxyGeomsState {
477
+ geoms: SplatCollisionProxyGeomPreview[];
478
+ status: SplatCollisionProxyPreviewStatus;
479
+ error: Error | null;
480
+ xmlPath?: string;
481
+ }
482
+ declare function SplatCollisionProxyPreview({ collisionProxy, xmlText, fetchXml, color, opacity, planeColor, planeOpacity, children, ...groupProps }: SplatCollisionProxyPreviewProps): react_jsx_runtime.JSX.Element | null;
483
+ declare function useSplatCollisionProxyGeoms({ collisionProxy, xmlText, fetchXml, enabled, }: UseSplatCollisionProxyGeomsOptions): SplatCollisionProxyGeomsState;
484
+ declare function fetchSplatCollisionProxyXml(xmlPath: string): Promise<string>;
485
+ declare function canFetchSplatCollisionProxyXml(xmlPath: string): boolean;
486
+ declare function parseSplatCollisionProxyGeoms(xmlText: string): SplatCollisionProxyGeomPreview[];
487
+
423
488
  /**
424
489
  * Declarative debug visualization component.
425
490
  * Renders wireframe geoms, site markers, joint axes, contact forces, COM markers, etc.
@@ -795,6 +860,192 @@ declare function useCameraFrameCapture(defaultOptions?: CameraFrameCaptureOption
795
860
 
796
861
  declare function useCameraSequenceRecorder(): CameraFrameSequenceRecorderAPI;
797
862
 
863
+ /**
864
+ * @license
865
+ * SPDX-License-Identifier: Apache-2.0
866
+ *
867
+ * Helpers for resolving dataset camera streams to mounted MuJoCo resources.
868
+ */
869
+
870
+ type MountedCameraFrameCaptureSource = Extract<CameraFrameCaptureSource, {
871
+ kind: 'mujoco-camera';
872
+ } | {
873
+ kind: 'mujoco-site';
874
+ } | {
875
+ kind: 'mujoco-body';
876
+ }>;
877
+ type CameraFrameMountSelector = {
878
+ cameraName: Cameras;
879
+ siteName?: never;
880
+ bodyName?: never;
881
+ } | {
882
+ siteName: Sites;
883
+ cameraName?: never;
884
+ bodyName?: never;
885
+ } | {
886
+ bodyName: Bodies;
887
+ cameraName?: never;
888
+ siteName?: never;
889
+ };
890
+ interface NamedCameraFrameResource {
891
+ name: string | null | undefined;
892
+ }
893
+ interface ResolveMountedCameraFrameSourceOptions {
894
+ cameras?: readonly (Cameras | NamedCameraFrameResource | null | undefined)[];
895
+ sites?: readonly (Sites | NamedCameraFrameResource | null | undefined)[];
896
+ bodies?: readonly (Bodies | NamedCameraFrameResource | null | undefined)[];
897
+ aliases?: Record<string, CameraFrameMountSelector | readonly CameraFrameMountSelector[]>;
898
+ /**
899
+ * Accept the first valid alias selector even when the current resource
900
+ * inventory cannot verify it. This is useful when aliases come from a
901
+ * previously validated model inventory and the actual provider will validate
902
+ * again during capture.
903
+ */
904
+ allowAliasFallback?: boolean;
905
+ }
906
+ interface ResolvedMountedCameraFrameSource {
907
+ key: string;
908
+ selector: CameraFrameMountSelector;
909
+ source: MountedCameraFrameCaptureSource;
910
+ }
911
+ declare const MountedCameraFrameSourceSuggestionMatch: {
912
+ readonly Direct: "direct";
913
+ readonly Alias: "alias";
914
+ readonly Normalized: "normalized";
915
+ readonly Prefix: "prefix";
916
+ readonly Suffix: "suffix";
917
+ readonly Contains: "contains";
918
+ };
919
+ type MountedCameraFrameSourceSuggestionMatch = (typeof MountedCameraFrameSourceSuggestionMatch)[keyof typeof MountedCameraFrameSourceSuggestionMatch];
920
+ interface MountedCameraFrameSourceSuggestion {
921
+ key: string;
922
+ selector: CameraFrameMountSelector;
923
+ source: MountedCameraFrameCaptureSource;
924
+ resourceName: string;
925
+ resourceKind: MountedCameraFrameCaptureSource['kind'];
926
+ match: MountedCameraFrameSourceSuggestionMatch;
927
+ }
928
+ type MountedCameraFrameSequenceDefaults = Omit<CameraFrameSequenceCamera, 'key' | 'cameraName' | 'siteName' | 'bodyName' | 'source'>;
929
+ type MountedCameraFrameSequenceCameraOptions = Partial<MountedCameraFrameSequenceDefaults>;
930
+ interface CreateMountedCameraFrameSequencePlanOptions extends ResolveMountedCameraFrameSourceOptions {
931
+ defaults?: MountedCameraFrameSequenceDefaults;
932
+ cameraOptions?: Record<string, MountedCameraFrameSequenceCameraOptions>;
933
+ requireAll?: boolean;
934
+ }
935
+ interface MountedCameraFrameSequencePlan {
936
+ cameraKeys: string[];
937
+ cameras: CameraFrameSequenceCamera[];
938
+ resolved: Record<string, ResolvedMountedCameraFrameSource>;
939
+ missingKeys: string[];
940
+ }
941
+ declare const MountedCameraFrameSequenceReadinessStatus: {
942
+ readonly Ready: "ready";
943
+ readonly Partial: "partial";
944
+ readonly Missing: "missing";
945
+ };
946
+ type MountedCameraFrameSequenceReadinessStatus = (typeof MountedCameraFrameSequenceReadinessStatus)[keyof typeof MountedCameraFrameSequenceReadinessStatus];
947
+ interface MountedCameraFrameSequenceSourceReadiness {
948
+ key: string;
949
+ ready: boolean;
950
+ selector?: CameraFrameMountSelector;
951
+ source?: MountedCameraFrameCaptureSource;
952
+ message: string;
953
+ }
954
+ interface MountedCameraFrameSequenceReadiness {
955
+ ready: boolean;
956
+ status: MountedCameraFrameSequenceReadinessStatus;
957
+ cameraKeys: string[];
958
+ resolvedKeys: string[];
959
+ missingKeys: string[];
960
+ cameras: Record<string, MountedCameraFrameSequenceSourceReadiness>;
961
+ message: string;
962
+ }
963
+ type MountedCameraFrameSequencePlanOptions = Omit<CreateMountedCameraFrameSequencePlanOptions, 'cameras' | 'sites' | 'bodies'>;
964
+ interface MountedCameraFrameSequenceRecordOptions extends Omit<CameraFrameSequenceOptions, 'cameras'>, MountedCameraFrameSequencePlanOptions {
965
+ cameraKeys: readonly string[];
966
+ }
967
+ interface MountedCameraFrameSequenceRecordResult extends CameraFrameSequenceResult {
968
+ plan: MountedCameraFrameSequencePlan;
969
+ readiness: MountedCameraFrameSequenceReadiness;
970
+ }
971
+ declare const MountedCameraFrameSequenceManifestStatus: {
972
+ readonly Complete: "complete";
973
+ readonly Partial: "partial";
974
+ readonly Missing: "missing";
975
+ };
976
+ type MountedCameraFrameSequenceManifestStatus = (typeof MountedCameraFrameSequenceManifestStatus)[keyof typeof MountedCameraFrameSequenceManifestStatus];
977
+ interface MountedCameraFrameSequenceStreamSummary {
978
+ key: string;
979
+ ready: boolean;
980
+ complete: boolean;
981
+ status: MountedCameraFrameSequenceManifestStatus;
982
+ source?: CameraFrameCaptureSource;
983
+ selector?: CameraFrameMountSelector;
984
+ target?: string;
985
+ width?: number;
986
+ height?: number;
987
+ expectedFrameCount: number;
988
+ recordedFrameCount: number;
989
+ missingFrameCount: number;
990
+ firstFrameIndex: number | null;
991
+ lastFrameIndex: number | null;
992
+ firstTimestamp: number | null;
993
+ lastTimestamp: number | null;
994
+ message: string;
995
+ }
996
+ interface CreateMountedCameraFrameSequenceManifestOptions {
997
+ expectedFrameCount?: number;
998
+ cameraKeys?: readonly string[];
999
+ }
1000
+ interface MountedCameraFrameSequenceManifest {
1001
+ schema: 'mujoco-react/mounted-camera-frame-sequence-manifest@1';
1002
+ ready: boolean;
1003
+ complete: boolean;
1004
+ status: MountedCameraFrameSequenceManifestStatus;
1005
+ cameraKeys: string[];
1006
+ resolvedKeys: string[];
1007
+ missingKeys: string[];
1008
+ expectedFrameCount: number;
1009
+ recordedFrameCount: number;
1010
+ missingFrameCount: number;
1011
+ streamSummaries: Record<string, MountedCameraFrameSequenceStreamSummary>;
1012
+ streams: MountedCameraFrameSequenceStreamSummary[];
1013
+ readiness: MountedCameraFrameSequenceReadiness;
1014
+ message: string;
1015
+ }
1016
+ type MountedCameraFrameSequenceRecorderTarget = Pick<MujocoSimAPI, 'getCameras' | 'getSites' | 'getBodies' | 'recordCameraSequence'>;
1017
+ declare function getMountedCameraFrameCaptureSource(selector: CameraFrameMountSelector): MountedCameraFrameCaptureSource | null;
1018
+ declare function isMountedCameraFrameCaptureSource(source: CameraFrameCaptureSource): source is MountedCameraFrameCaptureSource;
1019
+ declare function getCameraFrameCaptureSourceTarget(source: CameraFrameCaptureSource): string;
1020
+ declare function createMountedCameraFrameSourceSuggestions(key: string, options: ResolveMountedCameraFrameSourceOptions): MountedCameraFrameSourceSuggestion[];
1021
+ declare function resolveMountedCameraFrameSource(key: string, options: ResolveMountedCameraFrameSourceOptions): ResolvedMountedCameraFrameSource | null;
1022
+ declare function createMountedCameraFrameSequencePlan(cameraKeys: readonly string[], options: CreateMountedCameraFrameSequencePlanOptions): MountedCameraFrameSequencePlan;
1023
+ declare function createMountedCameraFrameSequenceReadiness(plan: MountedCameraFrameSequencePlan): MountedCameraFrameSequenceReadiness;
1024
+ declare function createMountedCameraFrameSequenceManifest(result: MountedCameraFrameSequenceRecordResult, options?: CreateMountedCameraFrameSequenceManifestOptions): MountedCameraFrameSequenceManifest;
1025
+ declare function createMountedCameraFrameSequencePlanFromApi(api: MountedCameraFrameSequenceRecorderTarget, cameraKeys: readonly string[], options?: MountedCameraFrameSequencePlanOptions): MountedCameraFrameSequencePlan;
1026
+ declare function recordMountedCameraFrameSequence(api: MountedCameraFrameSequenceRecorderTarget, options: MountedCameraFrameSequenceRecordOptions): Promise<MountedCameraFrameSequenceRecordResult>;
1027
+
1028
+ /**
1029
+ * @license
1030
+ * SPDX-License-Identifier: Apache-2.0
1031
+ *
1032
+ * React state wrapper for named MuJoCo camera/site/body sequence recording.
1033
+ */
1034
+
1035
+ type MountedCameraSequencePlanOptions = MountedCameraFrameSequencePlanOptions;
1036
+ type MountedCameraSequenceRecordOptions = MountedCameraFrameSequenceRecordOptions;
1037
+ type MountedCameraSequenceRecordResult = MountedCameraFrameSequenceRecordResult;
1038
+ type MountedCameraSequenceReadiness = MountedCameraFrameSequenceReadiness;
1039
+ interface MountedCameraSequenceRecorderAPI extends Omit<CameraFrameSequenceRecorderAPI, 'record'> {
1040
+ plan: MountedCameraFrameSequencePlan | null;
1041
+ readiness: MountedCameraSequenceReadiness | null;
1042
+ result: MountedCameraSequenceRecordResult | null;
1043
+ createPlan: (cameraKeys: readonly string[], options?: MountedCameraSequencePlanOptions) => MountedCameraFrameSequencePlan;
1044
+ checkReadiness: (cameraKeys: readonly string[], options?: MountedCameraSequencePlanOptions) => MountedCameraSequenceReadiness;
1045
+ record: (options: MountedCameraSequenceRecordOptions) => Promise<MountedCameraSequenceRecordResult>;
1046
+ }
1047
+ declare function useMountedCameraSequenceRecorder(defaultOptions?: MountedCameraSequencePlanOptions): MountedCameraSequenceRecorderAPI;
1048
+
798
1049
  /**
799
1050
  * @license
800
1051
  * SPDX-License-Identifier: Apache-2.0
@@ -802,11 +1053,27 @@ declare function useCameraSequenceRecorder(): CameraFrameSequenceRecorderAPI;
802
1053
  * Offscreen camera-frame capture for R3F/MuJoCo scenes.
803
1054
  */
804
1055
 
1056
+ interface CameraFrameCaptureSession {
1057
+ readonly width: number;
1058
+ readonly height: number;
1059
+ capture(options?: CameraFrameCaptureOptions): {
1060
+ canvas: HTMLCanvasElement;
1061
+ camera: THREE.Camera;
1062
+ width: number;
1063
+ height: number;
1064
+ source: CameraFrameCaptureSource;
1065
+ };
1066
+ captureDataUrl(options?: CameraFrameCaptureOptions): CameraFrameCaptureResult;
1067
+ captureBlob(options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;
1068
+ dispose(): void;
1069
+ }
1070
+ declare function createCameraFrameCaptureSession(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): CameraFrameCaptureSession;
805
1071
  declare function renderCameraFrameToCanvas(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): {
806
1072
  canvas: HTMLCanvasElement;
807
1073
  camera: THREE.Camera;
808
1074
  width: number;
809
1075
  height: number;
1076
+ source: CameraFrameCaptureSource;
810
1077
  };
811
1078
  declare function captureCameraFrame(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureResult>;
812
1079
  declare function captureCameraFrameBlob(renderer: THREE.WebGLRenderer, scene: THREE.Scene, fallbackCamera: THREE.Camera, options?: CameraFrameCaptureOptions): Promise<CameraFrameCaptureBlobResult>;
@@ -906,4 +1173,4 @@ interface CameraAnimationAPI {
906
1173
  */
907
1174
  declare function useCameraAnimation(): CameraAnimationAPI;
908
1175
 
909
- export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureBlobResult, CameraFrameCaptureOptions, CameraFrameCaptureResult, CameraFrameSequenceRecorderAPI, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, 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, captureCameraFrame, captureCameraFrameBlob, captureFrame, captureFrameBlob, createContiguousControlGroup, createController, createControllerHook, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getControlMap, getName, getScenarioBackground, getScenarioCameraPosition, loadScene, renderCameraFrameToCanvas, resolveControlGroup, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, 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 };
1176
+ export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, type CameraAnimationAPI, CameraFrameCaptureAPI, CameraFrameCaptureBlobResult, CameraFrameCaptureOptions, CameraFrameCaptureResult, CameraFrameCaptureSource, type CameraFrameMountSelector, CameraFrameSequenceCamera, CameraFrameSequenceOptions, CameraFrameSequenceRecorderAPI, CameraFrameSequenceResult, Cameras, ContactInfo, ContactListener, ContactListenerProps, ContactMarkers, ControlGroupInfo, ControlGroupSelector, type ControllerComponent, type ControllerOptions, type CreateMountedCameraFrameSequenceManifestOptions, type CreateMountedCameraFrameSequencePlanOptions, CtrlHandle, Debug, DebugProps, DragInteraction, DragInteractionProps, FlexRenderer, FrameCaptureAPI, FrameCaptureBlobResult, FrameCaptureOptions, FrameCaptureResult, GeomInfo, IkConfig, IkContextValue, IkGizmo, IkGizmoProps, InstancedGeomRenderer, JointStateResult, Joints, 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, MujocoCanvas, MujocoCanvasProps, MujocoContextValue, MujocoData, type MujocoLoader, type MujocoLoaderOptions, MujocoModel, MujocoModule, MujocoPhysics, type MujocoPhysicsProps, MujocoProvider, type MujocoProviderProps, MujocoSimAPI, MujocoSimProvider, type MujocoWasmVariant, type NamedCameraFrameResource, ObservationConfig, ObservationHandle, ObservationResult, PairedSplatEnvironmentConfig, PhysicsStepCallback, PlaybackState, PolicyConfig, PolicyVector, ReadyCallbackInput, type ResolveMountedCameraFrameSourceOptions, type ResolvedMountedCameraFrameSource, 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 UseSplatCollisionProxyGeomsOptions, VisualScenarioConfig, VisualScenarioEffects, VisualScenarioEffectsProps, VisualScenarioExecutionContext, VisualScenarioExecutionContextInput, buildObservation, canFetchSplatCollisionProxyXml, captureCameraFrame, captureCameraFrameBlob, captureFrame, captureFrameBlob, createCameraFrameCaptureSession, createContiguousControlGroup, createController, createControllerHook, createMountedCameraFrameSequenceManifest, createMountedCameraFrameSequencePlan, createMountedCameraFrameSequencePlanFromApi, createMountedCameraFrameSequenceReadiness, createMountedCameraFrameSourceSuggestions, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, fetchSplatCollisionProxyXml, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getActuatedJoints, getCameraFrameCaptureSourceTarget, getControlMap, getMountedCameraFrameCaptureSource, getName, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, isMountedCameraFrameCaptureSource, loadScene, parseSplatCollisionProxyGeoms, recordMountedCameraFrameSequence, renderCameraFrameToCanvas, resolveControlGroup, resolveMountedCameraFrameSource, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyMeshes, useBodyState, useCameraAnimation, useCameraFrameCapture, useCameraSequenceRecorder, useContactEvents, useContacts, useCtrl, useCtrlNoise, useFrameCapture, useGamepad, useGravityCompensation, useIkController, useJointState, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };