mujoco-react 9.6.0 → 10.0.1

package/dist/index.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
-import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, 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 KeyboardIkTargetConfig, a6 as PolicyConfig, a7 as PolicyVector, a8 as ObservationHandle, a9 as TrajectoryInput, aa as TrajectoryStateChangeInput, ab as PlaybackState, ac as TrajectoryFrame, ad as FrameCaptureOptions, ae as FrameCaptureResult, af as FrameCaptureBlobResult, ag as FrameCaptureAPI, ah as CameraFrameCaptureOptions, ai as CameraFrameCaptureAPI, aj as CameraFrameSequenceRecorderAPI, ak as Cameras, al as CameraFrameSequenceCamera, am as CameraFrameCaptureSource, an as CameraFrameSequenceOptions, ao as CameraFrameSequenceResult, ap as CameraFrameCaptureResult, aq as CameraFrameCaptureBlobResult } from './types-C1rwH74Y.js';
-export { ar as BodyInfo, as as CameraFrameCaptureQuaternion, at as CameraFrameCaptureVector3, au as CameraFrameSequenceCameraSummary, av as CameraFrameSequenceFrame, aw as CameraFrameSequenceSampleInput, ax as CameraFrameSequenceStepInput, ay as CameraInfo, az as ControlJointInfo, aA as FrameCaptureStatus, aB as FrameCaptureTarget, aC as FrameCaptureTargetRef, aD as Geoms, aE as IKSolveFn, aF as IkGizmoDragInput, aG as IkSolveInput, aH as JointInfo, aI as KeyBinding, aJ as KeyboardIkTargetAction, aK as KeyboardIkTargetBinding, aL as Keyframes, aM as ModelOptions, aN as MujocoContact, aO as MujocoContactArray, aP as MujocoFrameCaptureOptions, aQ as ObservationLayoutItem, aR as ObservationOutput, aS as PhysicsConfig, aT as PhysicsStepInput, aU as PolicyActionInput, aV as PolicyInferenceInput, aW as PolicyObservationInput, aX as RayHit, aY as Register, aZ as RegisteredRobotMap, a_ as ResetCallbackInput, a$ as ResolvedScenarioCameraConfig, b0 as ResolvedScenarioMaterialConfig, b1 as ResourceSelector, b2 as RobotActuators, b3 as RobotBodies, b4 as RobotCameras, b5 as RobotGeoms, b6 as RobotJoints, b7 as RobotKeyframes, b8 as RobotResource, b9 as RobotResources, ba as RobotSensors, bb as RobotSites, bc as Robots, bd as ScenarioCameraConfig, be as ScenarioMaterialConfig, bf as SceneMarker, bg as SceneObject, bh as SensorResult, bi as SiteInfo, bj as SplatAssetConfig, bk as SplatScenarioConfig, bl as StateSnapshot, bm as TrajectoryData, bn as TrajectoryFrameCallbackInput, bo as VisualScenarioMaterialFilterInput, bp as XmlPatch, bq as getContact, br as registerRobotResources } from './types-C1rwH74Y.js';
+import { M as MujocoContextValue, a as MujocoCanvasProps, b as MujocoSimAPI, S as SceneConfig, R as ReadyCallbackInput, c as StepCallbackInput, d as SelectionCallbackInput, e as MujocoModule, P as PhysicsStepCallback, f as MujocoModel, g as MujocoData, C as ControlGroupInfo, A as ActuatedJointInfo, h as ControlGroupSelector, O as ObservationConfig, i as ObservationResult, I as IkConfig, j as IkContextValue, B as BodyProps, k as IkGizmoProps, D as DragInteractionProps, l as SceneLightsProps, m as ScenarioLightingProps, n as SplatEnvironmentProps, V as VisualScenarioEffectsProps, o as VisualScenarioConfig, p as SplatRendererKind, q as PairedSplatEnvironmentConfig, r as SplatFormat, s as SplatCollisionProxyConfig, t as 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 ScalarJointStateResult, $ as ArrayJointStateResult, a0 as JointStateOptions, a1 as JointStateResult, a2 as Bodies, a3 as BodyStateResult, a4 as Actuators, a5 as CtrlHandle, a6 as ContactInfo, a7 as KeyboardTeleopConfig, a8 as KeyboardIkTargetConfig, a9 as PolicyConfig, aa as PolicyVector, ab as ObservationHandle, ac as TrajectoryInput, ad as TrajectoryStateChangeInput, ae as PlaybackState, af as TrajectoryFrame, ag as FrameCaptureOptions, ah as FrameCaptureResult, ai as FrameCaptureBlobResult, aj as FrameCaptureAPI, ak as CameraFrameCaptureOptions, al as CameraFrameCaptureAPI, am as CameraFrameSequenceRecorderAPI, an as Cameras, ao as CameraFrameSequenceCamera, ap as CameraFrameCaptureSource, aq as CameraFrameSequenceOptions, ar as CameraFrameSequenceResult, as as CameraFrameCaptureResult, at as CameraFrameCaptureBlobResult } from './types-BaSMqJHT.js';
+export { au as BodyInfo, av as CameraFrameCaptureQuaternion, aw as CameraFrameCaptureVector3, ax as CameraFrameSequenceCameraSummary, ay as CameraFrameSequenceFrame, az as CameraFrameSequenceSampleInput, aA as CameraFrameSequenceStepInput, aB as CameraInfo, aC as ControlJointInfo, aD as FrameCaptureStatus, aE as FrameCaptureTarget, aF as FrameCaptureTargetRef, aG as Geoms, aH as IKSolveFn, aI as IkGizmoDragInput, aJ as IkSolveInput, aK as JointInfo, aL as JointStateKind, aM as KeyBinding, aN as KeyboardIkTargetAction, aO as KeyboardIkTargetBinding, aP as Keyframes, aQ as ModelActuators, aR as ModelBodies, aS as ModelCameras, aT as ModelGeoms, aU as ModelJoints, aV as ModelKeyframes, aW as ModelOptions, aX as ModelResource, aY as ModelResources, aZ as ModelSensors, a_ as ModelSites, a$ as Models, b0 as MujocoContact, b1 as MujocoContactArray, b2 as MujocoFrameCaptureOptions, b3 as ObservationLayoutItem, b4 as ObservationOutput, b5 as PhysicsConfig, b6 as PhysicsStepInput, b7 as PolicyActionInput, b8 as PolicyInferenceInput, b9 as PolicyObservationInput, ba as RayHit, bb as Register, bc as RegisteredModelMap, bd as ResetCallbackInput, be as ResolvedScenarioCameraConfig, bf as ResolvedScenarioMaterialConfig, bg as ResourceSelector, bh as ScenarioCameraConfig, bi as ScenarioMaterialConfig, bj as SceneMarker, bk as SceneObject, bl as SensorResult, bm as SiteInfo, bn as SplatAssetConfig, bo as SplatScenarioConfig, bp as StateSnapshot, bq as TrajectoryData, br as TrajectoryFrameCallbackInput, bs as VisualScenarioMaterialFilterInput, bt as XmlPatch, bu as getContact, bv as registerModelResources } from './types-BaSMqJHT.js';
 import * as React$1 from 'react';
 import { ThreeElements } from '@react-three/fiber';
 import * as THREE from 'three';
@@ -196,7 +196,7 @@ interface LoadResult {
     mjData: MujocoData;
 }
 /**
- * Config-driven scene loader — replaces the old RobotLoader + patchSingleRobot approach.
+ * Config-driven scene loader — replaces the old single-model patching approach.
  */
 declare function loadScene(mujoco: MujocoModule, config: SceneConfig, onProgress?: (msg: string) => void): Promise<LoadResult>;
 
@@ -242,7 +242,7 @@ type ControllerComponent<TConfig> = React.FC<{
  * const MyController = createController<{ speed: number }>(
  *   { name: 'my-controller', defaultConfig: { speed: 1.0 } },
  *   function MyControllerImpl({ config }) {
- *     const wheel = useCtrl(RobotActuators.mobile.leftWheel);
+ *     const wheel = useCtrl(ModelActuators.mobile.leftWheel);
  *
  *     useBeforePhysicsStep(({ data }) => {
  *       wheel.write(config.speed);
@@ -271,7 +271,7 @@ declare function createController<TConfig>(options: ControllerOptions<TConfig>,
  *   { name: 'useMyController', defaultConfig: { gain: 1.0 } },
  *   function useMyControllerImpl(config) {
  *     // config is MyConfig | null — hooks must be called unconditionally
- *     const joint = useCtrl(config?.actuator ?? RobotActuators.franka.actuator1);
+ *     const joint = useCtrl(config?.actuator ?? ModelActuators.franka.actuator1);
  *
  *     useBeforePhysicsStep(({ data }) => {
  *       if (!config) return;
@@ -604,11 +604,17 @@ declare function useSensors(): SensorInfo[];
  * Track a MuJoCo joint's position and velocity by name.
  * Values are updated every physics frame via refs (no re-renders).
  *
- * For hinge/slide joints, position/velocity are scalar (stored as Float64Array of length 1).
+ * For hinge/slide joints, position/velocity are scalar numbers.
  * For ball joints, position is quat (4), velocity is angular vel (3).
  * For free joints, position is pos+quat (7), velocity is lin+ang vel (6).
  */
-declare function useJointState(name: Joints): JointStateResult;
+declare function useJointState(name: Joints, options: {
+    kind: 'scalar';
+}): ScalarJointStateResult;
+declare function useJointState(name: Joints, options: {
+    kind: 'array';
+}): ArrayJointStateResult;
+declare function useJointState(name: Joints, options?: JointStateOptions): JointStateResult;
 
 /**
  * @license
@@ -1195,4 +1201,4 @@ interface CameraAnimationAPI {
  */
 declare function useCameraAnimation(): CameraAnimationAPI;
 
-export { ActuatedJointInfo, ActuatorInfo, Actuators, Bodies, Body, BodyProps, BodyStateResult, CAPTURE_EXCLUDE_KEY, 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, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, 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, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };
+export { ActuatedJointInfo, ActuatorInfo, Actuators, ArrayJointStateResult, Bodies, Body, BodyProps, BodyStateResult, CAPTURE_EXCLUDE_KEY, 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, JointStateOptions, JointStateResult, Joints, KeyboardIkTargetConfig, KeyboardTeleopConfig, type MountedCameraFrameCaptureSource, type MountedCameraFrameSequenceCameraOptions, type MountedCameraFrameSequenceDefaults, type MountedCameraFrameSequenceManifest, MountedCameraFrameSequenceManifestStatus, type MountedCameraFrameSequencePlan, type MountedCameraFrameSequencePlanOptions, type MountedCameraFrameSequenceReadiness, MountedCameraFrameSequenceReadinessStatus, type MountedCameraFrameSequenceRecordOptions, type MountedCameraFrameSequenceRecordResult, type MountedCameraFrameSequenceRecorderTarget, type MountedCameraFrameSequenceSourceReadiness, type MountedCameraFrameSequenceStreamSummary, type MountedCameraFrameSourceSuggestion, MountedCameraFrameSourceSuggestionMatch, type MountedCameraSequencePlanOptions, type MountedCameraSequenceReadiness, type MountedCameraSequenceRecordOptions, type MountedCameraSequenceRecordResult, type MountedCameraSequenceRecorderAPI, 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, ScalarJointStateResult, ScenarioLighting, ScenarioLightingPreset, ScenarioLightingProps, SceneConfig, SceneLights, SceneLightsProps, SelectionCallbackInput, SensorHandle, SensorInfo, Sensors, SitePositionResult, Sites, SplatCollisionPrimitive, SplatCollisionProxyConfig, type SplatCollisionProxyGeomPreview, type SplatCollisionProxyGeomsState, SplatCollisionProxyPreview, type SplatCollisionProxyPreviewProps, type SplatCollisionProxyPreviewStatus, type SplatCollisionProxyPreviewVector3, SplatEnvironment, SplatEnvironmentMetadata, SplatEnvironmentMetadataInput, SplatEnvironmentProps, SplatEnvironmentReadiness, SplatEnvironmentReadinessStatus, SplatFormat, SplatRendererKind, SplatSceneConfigInput, SplatSceneConfigState, SplatSceneInput, StepCallbackInput, TendonRenderer, TrajectoryFrame, TrajectoryInput, TrajectoryPlayer, TrajectoryPlayerProps, TrajectoryStateChangeInput, type 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, useKeyboardIkTarget, useKeyboardTeleop, useMountedCameraSequenceRecorder, useMujoco, useMujocoWasm, useObservation, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useSplatCollisionProxyGeoms, useSplatEnvironment, useSplatSceneConfig, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment };

package/dist/index.js

@@ -1,5 +1,5 @@
-import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAPTURE_EXCLUDE_KEY } from './chunk-4JHALVB2.js';
-export { CAPTURE_EXCLUDE_KEY, RobotActuators, RobotBodies, RobotCameras, RobotGeoms, RobotJoints, RobotKeyframes, RobotResources, RobotSensors, RobotSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, registerRobotResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-4JHALVB2.js';
+import { withContacts, getContact, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, CAPTURE_EXCLUDE_KEY } from './chunk-QTCAVQS6.js';
+export { CAPTURE_EXCLUDE_KEY, ModelActuators, ModelBodies, ModelCameras, ModelGeoms, ModelJoints, ModelKeyframes, ModelResources, ModelSensors, ModelSites, ScenarioLighting, SplatEnvironment, SplatEnvironmentReadinessStatus, VisualScenarioEffects, captureCameraFrame, captureCameraFrameBlob, createCameraFrameCaptureSession, createPairedSplatEnvironment, createSparkSplatViewerUrl, createSplatEnvironmentUserData, createSplatSceneConfig, createVisualScenarioExecutionContext, getContact, getScenarioBackground, getScenarioCameraPosition, getSplatEnvironmentReadiness, registerModelResources, renderCameraFrameToCanvas, useSplatEnvironment, useSplatSceneConfig, useVisualScenarioEffects, useVisualScenarioExecutionContext, withSplatEnvironment } from './chunk-QTCAVQS6.js';
 import loadMujoco from '@mujoco/mujoco';
 import defaultMujocoWasmUrl from '@mujoco/mujoco/mujoco.wasm?url';
 import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo, useLayoutEffect } from 'react';
@@ -3382,6 +3382,16 @@ var DEFAULTS = {
   posWeight: 1,
   rotWeight: 0.3
 };
+function resolveOptions(opts) {
+  return {
+    maxIterations: opts?.maxIterations ?? DEFAULTS.maxIterations,
+    damping: opts?.damping ?? DEFAULTS.damping,
+    tolerance: opts?.tolerance ?? DEFAULTS.tolerance,
+    epsilon: opts?.epsilon ?? DEFAULTS.epsilon,
+    posWeight: opts?.posWeight ?? DEFAULTS.posWeight,
+    rotWeight: opts?.rotWeight ?? DEFAULTS.rotWeight
+  };
+}
 var GenericIK = class {
   mujoco;
   constructor(mujoco) {
@@ -3400,7 +3410,7 @@ var GenericIK = class {
    * @returns Joint angles array, or null if solver diverged
    */
   solve(model, data, siteId, qposAdr, targetPos, targetQuat, currentQ, opts) {
-    const o = { ...DEFAULTS, ...opts };
+    const o = resolveOptions(opts);
     const n = qposAdr.length;
     const savedQpos = new Float64Array(data.qpos.length);
     savedQpos.set(data.qpos);
@@ -5790,13 +5800,15 @@ function useSensors() {
     return result;
   }, [mjModelRef, status]);
 }
-function useJointState(name) {
+function useJointState(name, options = {}) {
   const { mjModelRef, mjDataRef, status } = useMujocoContext();
   const jointIdRef = useRef(-1);
   const qposAdrRef = useRef(0);
   const dofAdrRef = useRef(0);
   const qposDimRef = useRef(1);
   const dofDimRef = useRef(1);
+  const kindRef = useRef(options.kind ?? "auto");
+  kindRef.current = options.kind ?? "auto";
   const positionRef = useRef(0);
   const velocityRef = useRef(0);
   const posBufferRef = useRef(null);
@@ -5820,7 +5832,7 @@ function useJointState(name) {
           qposDimRef.current = 1;
           dofDimRef.current = 1;
         }
-        if (qposDimRef.current > 1) {
+        if (kindRef.current === "array" || qposDimRef.current > 1) {
           posBufferRef.current = new Float64Array(qposDimRef.current);
           velBufferRef.current = new Float64Array(dofDimRef.current);
         } else {
@@ -5831,12 +5843,12 @@ function useJointState(name) {
       }
     }
     jointIdRef.current = -1;
-  }, [name, status, mjModelRef]);
+  }, [name, options.kind, status, mjModelRef]);
   useAfterPhysicsStep(({ data }) => {
     if (jointIdRef.current < 0) return;
     const qa = qposAdrRef.current;
     const da = dofAdrRef.current;
-    if (qposDimRef.current === 1) {
+    if (kindRef.current === "scalar" || kindRef.current === "auto" && qposDimRef.current === 1) {
       positionRef.current = data.qpos[qa];
       velocityRef.current = data.qvel[da];
     } else {