mujoco 3.2.3

package/mujoco.d.ts

@@ -0,0 +1,3621 @@
+// TypeScript bindings for emscripten-generated code.  Automatically generated at compile time.
+declare namespace RuntimeExports {
+    /**
+     * @param {string|null=} returnType
+     * @param {Array=} argTypes
+     * @param {Arguments|Array=} args
+     * @param {Object=} opts
+     */
+    function ccall(ident: any, returnType?: (string | null) | undefined, argTypes?: any[] | undefined, args?: (Arguments | any[]) | undefined, opts?: any | undefined): any;
+    /**
+     * @param {string=} returnType
+     * @param {Array=} argTypes
+     * @param {Object=} opts
+     */
+    function cwrap(ident: any, returnType?: string | undefined, argTypes?: any[] | undefined, opts?: any | undefined): (...args: any[]) => any;
+    namespace FS {
+        export let root: any;
+        export let mounts: any[];
+        export let devices: {};
+        export let streams: any[];
+        export let nextInode: number;
+        export let nameTable: any;
+        export let currentPath: string;
+        export let initialized: boolean;
+        export let ignorePermissions: boolean;
+        export let filesystems: any;
+        export let syncFSRequests: number;
+        export let readFiles: {};
+        export { ErrnoError };
+        export { FSStream };
+        export { FSNode };
+        export function lookupPath(path: any, opts?: {}): {
+            path: string;
+            node?: undefined;
+        } | {
+            path: string;
+            node: any;
+        };
+        export function getPath(node: any): any;
+        export function hashName(parentid: any, name: any): number;
+        export function hashAddNode(node: any): void;
+        export function hashRemoveNode(node: any): void;
+        export function lookupNode(parent: any, name: any): any;
+        export function createNode(parent: any, name: any, mode: any, rdev: any): any;
+        export function destroyNode(node: any): void;
+        export function isRoot(node: any): boolean;
+        export function isMountpoint(node: any): boolean;
+        export function isFile(mode: any): boolean;
+        export function isDir(mode: any): boolean;
+        export function isLink(mode: any): boolean;
+        export function isChrdev(mode: any): boolean;
+        export function isBlkdev(mode: any): boolean;
+        export function isFIFO(mode: any): boolean;
+        export function isSocket(mode: any): boolean;
+        export function flagsToPermissionString(flag: any): string;
+        export function nodePermissions(node: any, perms: any): 0 | 2;
+        export function mayLookup(dir: any): any;
+        export function mayCreate(dir: any, name: any): any;
+        export function mayDelete(dir: any, name: any, isdir: any): any;
+        export function mayOpen(node: any, flags: any): any;
+        export function checkOpExists(op: any, err: any): any;
+        export let MAX_OPEN_FDS: number;
+        export function nextfd(): number;
+        export function getStreamChecked(fd: any): any;
+        export function getStream(fd: any): any;
+        export function createStream(stream: any, fd?: number): any;
+        export function closeStream(fd: any): void;
+        export function dupStream(origStream: any, fd?: number): any;
+        export function doSetAttr(stream: any, node: any, attr: any): void;
+        export namespace chrdev_stream_ops {
+            function open(stream: any): void;
+            function llseek(): never;
+        }
+        export function major(dev: any): number;
+        export function minor(dev: any): number;
+        export function makedev(ma: any, mi: any): number;
+        export function registerDevice(dev: any, ops: any): void;
+        export function getDevice(dev: any): any;
+        export function getMounts(mount: any): any[];
+        export function syncfs(populate: any, callback: any): void;
+        export function mount(type: any, opts: any, mountpoint: any): any;
+        export function unmount(mountpoint: any): void;
+        export function lookup(parent: any, name: any): any;
+        export function mknod(path: any, mode: any, dev: any): any;
+        export function statfs(path: any): any;
+        export function statfsStream(stream: any): any;
+        export function statfsNode(node: any): {
+            bsize: number;
+            frsize: number;
+            blocks: number;
+            bfree: number;
+            bavail: number;
+            files: any;
+            ffree: number;
+            fsid: number;
+            flags: number;
+            namelen: number;
+        };
+        export function create(path: any, mode?: number): any;
+        export function mkdir(path: any, mode?: number): any;
+        export function mkdirTree(path: any, mode: any): void;
+        export function mkdev(path: any, mode: any, dev: any): any;
+        export function symlink(oldpath: any, newpath: any): any;
+        export function rename(old_path: any, new_path: any): void;
+        export function rmdir(path: any): void;
+        export function readdir(path: any): any;
+        export function unlink(path: any): void;
+        export function readlink(path: any): any;
+        export function stat(path: any, dontFollow: any): any;
+        export function fstat(fd: any): any;
+        export function lstat(path: any): any;
+        export function doChmod(stream: any, node: any, mode: any, dontFollow: any): void;
+        export function chmod(path: any, mode: any, dontFollow: any): void;
+        export function lchmod(path: any, mode: any): void;
+        export function fchmod(fd: any, mode: any): void;
+        export function doChown(stream: any, node: any, dontFollow: any): void;
+        export function chown(path: any, uid: any, gid: any, dontFollow: any): void;
+        export function lchown(path: any, uid: any, gid: any): void;
+        export function fchown(fd: any, uid: any, gid: any): void;
+        export function doTruncate(stream: any, node: any, len: any): void;
+        export function truncate(path: any, len: any): void;
+        export function ftruncate(fd: any, len: any): void;
+        export function utime(path: any, atime: any, mtime: any): void;
+        export function open(path: any, flags: any, mode?: number): any;
+        export function close(stream: any): void;
+        export function isClosed(stream: any): boolean;
+        export function llseek(stream: any, offset: any, whence: any): any;
+        export function read(stream: any, buffer: any, offset: any, length: any, position: any): any;
+        export function write(stream: any, buffer: any, offset: any, length: any, position: any, canOwn: any): any;
+        export function mmap(stream: any, length: any, position: any, prot: any, flags: any): any;
+        export function msync(stream: any, buffer: any, offset: any, length: any, mmapFlags: any): any;
+        export function ioctl(stream: any, cmd: any, arg: any): any;
+        export function readFile(path: any, opts?: {}): Uint8Array<any>;
+        export function writeFile(path: any, data: any, opts?: {}): void;
+        export function cwd(): any;
+        export function chdir(path: any): void;
+        export function createDefaultDirectories(): void;
+        export function createDefaultDevices(): void;
+        export function createSpecialDirectories(): void;
+        export function createStandardStreams(input: any, output: any, error: any): void;
+        export function staticInit(): void;
+        export function init(input: any, output: any, error: any): void;
+        export function quit(): void;
+        export function findObject(path: any, dontResolveLastLink: any): any;
+        export function analyzePath(path: any, dontResolveLastLink: any): {
+            isRoot: boolean;
+            exists: boolean;
+            error: number;
+            name: any;
+            path: any;
+            object: any;
+            parentExists: boolean;
+            parentPath: any;
+            parentObject: any;
+        };
+        export function createPath(parent: any, path: any, canRead: any, canWrite: any): any;
+        export function createFile(parent: any, name: any, properties: any, canRead: any, canWrite: any): any;
+        export function createDataFile(parent: any, name: any, data: any, canRead: any, canWrite: any, canOwn: any): void;
+        export function createDevice(parent: any, name: any, input: any, output: any): any;
+        export function forceLoadFile(obj: any): boolean;
+        export function createLazyFile(parent: any, name: any, url: any, canRead: any, canWrite: any): any;
+        export function absolutePath(): void;
+        export function createFolder(): void;
+        export function createLink(): void;
+        export function joinPath(): void;
+        export function mmapAlloc(): void;
+        export function standardizePath(): void;
+    }
+    namespace MEMFS {
+        let ops_table: any;
+        function mount(mount: any): any;
+        function createNode(parent: any, name: any, mode: any, dev: any): any;
+        function getFileDataAsTypedArray(node: any): any;
+        function expandFileStorage(node: any, newCapacity: any): void;
+        function resizeFileStorage(node: any, newSize: any): void;
+        namespace node_ops {
+            function getattr(node: any): {
+                dev: any;
+                ino: any;
+                mode: any;
+                nlink: number;
+                uid: number;
+                gid: number;
+                rdev: any;
+                size: any;
+                atime: Date;
+                mtime: Date;
+                ctime: Date;
+                blksize: number;
+                blocks: number;
+            };
+            function setattr(node: any, attr: any): void;
+            function lookup(parent: any, name: any): never;
+            function mknod(parent: any, name: any, mode: any, dev: any): any;
+            function rename(old_node: any, new_dir: any, new_name: any): void;
+            function unlink(parent: any, name: any): void;
+            function rmdir(parent: any, name: any): void;
+            function readdir(node: any): string[];
+            function symlink(parent: any, newname: any, oldpath: any): any;
+            function readlink(node: any): any;
+        }
+        namespace stream_ops {
+            function read(stream: any, buffer: any, offset: any, length: any, position: any): number;
+            function write(stream: any, buffer: any, offset: any, length: any, position: any, canOwn: any): any;
+            function llseek(stream: any, offset: any, whence: any): any;
+            function mmap(stream: any, length: any, position: any, prot: any, flags: any): {
+                ptr: any;
+                allocated: boolean;
+            };
+            function msync(stream: any, buffer: any, offset: any, length: any, mmapFlags: any): number;
+        }
+    }
+    function FS_createPath(...args: any[]): any;
+    function FS_createDataFile(...args: any[]): any;
+    function FS_createPreloadedFile(parent: any, name: any, url: any, canRead: any, canWrite: any, onload: any, onerror: any, dontCreateFile: any, canOwn: any, preFinish: any): void;
+    function FS_unlink(...args: any[]): any;
+    function FS_createLazyFile(...args: any[]): any;
+    function FS_createDevice(...args: any[]): any;
+    let addRunDependency: any;
+    let removeRunDependency: any;
+}
+declare class ErrnoError extends Error {
+    constructor(errno: any);
+    errno: any;
+    code: string;
+}
+declare class FSStream {
+    shared: {};
+    set object(val: any);
+    get object(): any;
+    node: any;
+    get isRead(): boolean;
+    get isWrite(): boolean;
+    get isAppend(): number;
+    set flags(val: any);
+    get flags(): any;
+    set position(val: any);
+    get position(): any;
+}
+declare class FSNode {
+    constructor(parent: any, name: any, mode: any, rdev: any);
+    node_ops: {};
+    stream_ops: {};
+    readMode: number;
+    writeMode: number;
+    mounted: any;
+    parent: any;
+    mount: any;
+    id: number;
+    name: any;
+    mode: any;
+    rdev: any;
+    atime: number;
+    mtime: number;
+    ctime: number;
+    set read(val: boolean);
+    get read(): boolean;
+    set write(val: boolean);
+    get write(): boolean;
+    get isFolder(): any;
+    get isDevice(): any;
+}
+interface WasmModule {
+}
+
+type EmbindString = ArrayBuffer|Uint8Array|Uint8ClampedArray|Int8Array|string;
+export interface ClassHandle {
+  isAliasOf(other: ClassHandle): boolean;
+  delete(): void;
+  deleteLater(): this;
+  isDeleted(): boolean;
+  // @ts-ignore - If targeting lower than ESNext, this symbol might not exist.
+  [Symbol.dispose](): void;
+  clone(): this;
+}
+export interface mjtAlignFreeValue<T extends number> {
+  value: T;
+}
+export type mjtAlignFree = mjtAlignFreeValue<0>|mjtAlignFreeValue<1>|mjtAlignFreeValue<2>;
+
+export interface mjtBiasValue<T extends number> {
+  value: T;
+}
+export type mjtBias = mjtBiasValue<0>|mjtBiasValue<1>|mjtBiasValue<2>|mjtBiasValue<3>;
+
+export interface mjtBuiltinValue<T extends number> {
+  value: T;
+}
+export type mjtBuiltin = mjtBuiltinValue<0>|mjtBuiltinValue<1>|mjtBuiltinValue<2>|mjtBuiltinValue<3>;
+
+export interface mjtButtonValue<T extends number> {
+  value: T;
+}
+export type mjtButton = mjtButtonValue<0>|mjtButtonValue<1>|mjtButtonValue<2>|mjtButtonValue<3>;
+
+export interface mjtCamLightValue<T extends number> {
+  value: T;
+}
+export type mjtCamLight = mjtCamLightValue<0>|mjtCamLightValue<1>|mjtCamLightValue<2>|mjtCamLightValue<3>|mjtCamLightValue<4>;
+
+export interface mjtCamOutBitValue<T extends number> {
+  value: T;
+}
+export type mjtCamOutBit = mjtCamOutBitValue<1>|mjtCamOutBitValue<2>|mjtCamOutBitValue<4>|mjtCamOutBitValue<8>|mjtCamOutBitValue<16>|mjtCamOutBitValue<5>;
+
+export interface mjtCameraValue<T extends number> {
+  value: T;
+}
+export type mjtCamera = mjtCameraValue<0>|mjtCameraValue<1>|mjtCameraValue<2>|mjtCameraValue<3>;
+
+export interface mjtCatBitValue<T extends number> {
+  value: T;
+}
+export type mjtCatBit = mjtCatBitValue<1>|mjtCatBitValue<2>|mjtCatBitValue<4>|mjtCatBitValue<7>;
+
+export interface mjtColorSpaceValue<T extends number> {
+  value: T;
+}
+export type mjtColorSpace = mjtColorSpaceValue<0>|mjtColorSpaceValue<1>|mjtColorSpaceValue<2>;
+
+export interface mjtConDataFieldValue<T extends number> {
+  value: T;
+}
+export type mjtConDataField = mjtConDataFieldValue<0>|mjtConDataFieldValue<1>|mjtConDataFieldValue<2>|mjtConDataFieldValue<3>|mjtConDataFieldValue<4>|mjtConDataFieldValue<5>|mjtConDataFieldValue<6>|mjtConDataFieldValue<7>;
+
+export interface mjtConeValue<T extends number> {
+  value: T;
+}
+export type mjtCone = mjtConeValue<0>|mjtConeValue<1>;
+
+export interface mjtConstraintValue<T extends number> {
+  value: T;
+}
+export type mjtConstraint = mjtConstraintValue<0>|mjtConstraintValue<1>|mjtConstraintValue<2>|mjtConstraintValue<3>|mjtConstraintValue<4>|mjtConstraintValue<5>|mjtConstraintValue<6>|mjtConstraintValue<7>;
+
+export interface mjtConstraintStateValue<T extends number> {
+  value: T;
+}
+export type mjtConstraintState = mjtConstraintStateValue<0>|mjtConstraintStateValue<1>|mjtConstraintStateValue<2>|mjtConstraintStateValue<3>|mjtConstraintStateValue<4>;
+
+export interface mjtDataTypeValue<T extends number> {
+  value: T;
+}
+export type mjtDataType = mjtDataTypeValue<0>|mjtDataTypeValue<1>|mjtDataTypeValue<2>|mjtDataTypeValue<3>;
+
+export interface mjtDepthMapValue<T extends number> {
+  value: T;
+}
+export type mjtDepthMap = mjtDepthMapValue<0>|mjtDepthMapValue<1>;
+
+export interface mjtDisableBitValue<T extends number> {
+  value: T;
+}
+export type mjtDisableBit = mjtDisableBitValue<1>|mjtDisableBitValue<2>|mjtDisableBitValue<4>|mjtDisableBitValue<8>|mjtDisableBitValue<16>|mjtDisableBitValue<32>|mjtDisableBitValue<64>|mjtDisableBitValue<128>|mjtDisableBitValue<256>|mjtDisableBitValue<512>|mjtDisableBitValue<1024>|mjtDisableBitValue<2048>|mjtDisableBitValue<4096>|mjtDisableBitValue<8192>|mjtDisableBitValue<16384>|mjtDisableBitValue<32768>|mjtDisableBitValue<65536>|mjtDisableBitValue<131072>|mjtDisableBitValue<262144>|mjtDisableBitValue<19>;
+
+export interface mjtDynValue<T extends number> {
+  value: T;
+}
+export type mjtDyn = mjtDynValue<0>|mjtDynValue<1>|mjtDynValue<2>|mjtDynValue<3>|mjtDynValue<4>|mjtDynValue<5>;
+
+export interface mjtEnableBitValue<T extends number> {
+  value: T;
+}
+export type mjtEnableBit = mjtEnableBitValue<1>|mjtEnableBitValue<2>|mjtEnableBitValue<4>|mjtEnableBitValue<8>|mjtEnableBitValue<16>|mjtEnableBitValue<32>|mjtEnableBitValue<6>;
+
+export interface mjtEqValue<T extends number> {
+  value: T;
+}
+export type mjtEq = mjtEqValue<0>|mjtEqValue<1>|mjtEqValue<2>|mjtEqValue<3>|mjtEqValue<4>|mjtEqValue<5>|mjtEqValue<6>;
+
+export interface mjtEventValue<T extends number> {
+  value: T;
+}
+export type mjtEvent = mjtEventValue<0>|mjtEventValue<1>|mjtEventValue<2>|mjtEventValue<3>|mjtEventValue<4>|mjtEventValue<5>|mjtEventValue<6>|mjtEventValue<7>|mjtEventValue<8>;
+
+export interface mjtFlexSelfValue<T extends number> {
+  value: T;
+}
+export type mjtFlexSelf = mjtFlexSelfValue<0>|mjtFlexSelfValue<1>|mjtFlexSelfValue<2>|mjtFlexSelfValue<3>|mjtFlexSelfValue<4>;
+
+export interface mjtFontValue<T extends number> {
+  value: T;
+}
+export type mjtFont = mjtFontValue<0>|mjtFontValue<1>|mjtFontValue<2>;
+
+export interface mjtFontScaleValue<T extends number> {
+  value: T;
+}
+export type mjtFontScale = mjtFontScaleValue<50>|mjtFontScaleValue<100>|mjtFontScaleValue<150>|mjtFontScaleValue<200>|mjtFontScaleValue<250>|mjtFontScaleValue<300>;
+
+export interface mjtFrameValue<T extends number> {
+  value: T;
+}
+export type mjtFrame = mjtFrameValue<0>|mjtFrameValue<1>|mjtFrameValue<2>|mjtFrameValue<3>|mjtFrameValue<4>|mjtFrameValue<5>|mjtFrameValue<6>|mjtFrameValue<7>|mjtFrameValue<8>;
+
+export interface mjtFramebufferValue<T extends number> {
+  value: T;
+}
+export type mjtFramebuffer = mjtFramebufferValue<0>|mjtFramebufferValue<1>;
+
+export interface mjtGainValue<T extends number> {
+  value: T;
+}
+export type mjtGain = mjtGainValue<0>|mjtGainValue<1>|mjtGainValue<2>|mjtGainValue<3>;
+
+export interface mjtGeomValue<T extends number> {
+  value: T;
+}
+export type mjtGeom = mjtGeomValue<0>|mjtGeomValue<1>|mjtGeomValue<2>|mjtGeomValue<3>|mjtGeomValue<4>|mjtGeomValue<5>|mjtGeomValue<6>|mjtGeomValue<7>|mjtGeomValue<8>|mjtGeomValue<9>|mjtGeomValue<100>|mjtGeomValue<101>|mjtGeomValue<102>|mjtGeomValue<103>|mjtGeomValue<104>|mjtGeomValue<105>|mjtGeomValue<106>|mjtGeomValue<107>|mjtGeomValue<108>|mjtGeomValue<1001>;
+
+export interface mjtGeomInertiaValue<T extends number> {
+  value: T;
+}
+export type mjtGeomInertia = mjtGeomInertiaValue<0>|mjtGeomInertiaValue<1>;
+
+export interface mjtGridPosValue<T extends number> {
+  value: T;
+}
+export type mjtGridPos = mjtGridPosValue<0>|mjtGridPosValue<1>|mjtGridPosValue<2>|mjtGridPosValue<3>|mjtGridPosValue<4>|mjtGridPosValue<5>|mjtGridPosValue<6>|mjtGridPosValue<7>;
+
+export interface mjtInertiaFromGeomValue<T extends number> {
+  value: T;
+}
+export type mjtInertiaFromGeom = mjtInertiaFromGeomValue<0>|mjtInertiaFromGeomValue<1>|mjtInertiaFromGeomValue<2>;
+
+export interface mjtIntegratorValue<T extends number> {
+  value: T;
+}
+export type mjtIntegrator = mjtIntegratorValue<0>|mjtIntegratorValue<1>|mjtIntegratorValue<2>|mjtIntegratorValue<3>;
+
+export interface mjtItemValue<T extends number> {
+  value: T;
+}
+export type mjtItem = mjtItemValue<-2>|mjtItemValue<-1>|mjtItemValue<0>|mjtItemValue<1>|mjtItemValue<2>|mjtItemValue<3>|mjtItemValue<4>|mjtItemValue<5>|mjtItemValue<6>|mjtItemValue<7>|mjtItemValue<8>|mjtItemValue<9>|mjtItemValue<10>|mjtItemValue<11>|mjtItemValue<12>|mjtItemValue<13>|mjtItemValue<14>;
+
+export interface mjtJacobianValue<T extends number> {
+  value: T;
+}
+export type mjtJacobian = mjtJacobianValue<0>|mjtJacobianValue<1>|mjtJacobianValue<2>;
+
+export interface mjtJointValue<T extends number> {
+  value: T;
+}
+export type mjtJoint = mjtJointValue<0>|mjtJointValue<1>|mjtJointValue<2>|mjtJointValue<3>;
+
+export interface mjtLRModeValue<T extends number> {
+  value: T;
+}
+export type mjtLRMode = mjtLRModeValue<0>|mjtLRModeValue<1>|mjtLRModeValue<2>|mjtLRModeValue<3>;
+
+export interface mjtLabelValue<T extends number> {
+  value: T;
+}
+export type mjtLabel = mjtLabelValue<0>|mjtLabelValue<1>|mjtLabelValue<2>|mjtLabelValue<3>|mjtLabelValue<4>|mjtLabelValue<5>|mjtLabelValue<6>|mjtLabelValue<7>|mjtLabelValue<8>|mjtLabelValue<9>|mjtLabelValue<10>|mjtLabelValue<11>|mjtLabelValue<12>|mjtLabelValue<13>|mjtLabelValue<14>|mjtLabelValue<15>|mjtLabelValue<16>|mjtLabelValue<17>;
+
+export interface mjtLightTypeValue<T extends number> {
+  value: T;
+}
+export type mjtLightType = mjtLightTypeValue<0>|mjtLightTypeValue<1>|mjtLightTypeValue<2>|mjtLightTypeValue<3>;
+
+export interface mjtLimitedValue<T extends number> {
+  value: T;
+}
+export type mjtLimited = mjtLimitedValue<0>|mjtLimitedValue<1>|mjtLimitedValue<2>;
+
+export interface mjtMarkValue<T extends number> {
+  value: T;
+}
+export type mjtMark = mjtMarkValue<0>|mjtMarkValue<1>|mjtMarkValue<2>|mjtMarkValue<3>;
+
+export interface mjtMeshBuiltinValue<T extends number> {
+  value: T;
+}
+export type mjtMeshBuiltin = mjtMeshBuiltinValue<0>|mjtMeshBuiltinValue<1>|mjtMeshBuiltinValue<2>|mjtMeshBuiltinValue<3>|mjtMeshBuiltinValue<4>|mjtMeshBuiltinValue<5>|mjtMeshBuiltinValue<6>|mjtMeshBuiltinValue<7>;
+
+export interface mjtMeshInertiaValue<T extends number> {
+  value: T;
+}
+export type mjtMeshInertia = mjtMeshInertiaValue<0>|mjtMeshInertiaValue<1>|mjtMeshInertiaValue<2>|mjtMeshInertiaValue<3>;
+
+export interface mjtMouseValue<T extends number> {
+  value: T;
+}
+export type mjtMouse = mjtMouseValue<0>|mjtMouseValue<1>|mjtMouseValue<2>|mjtMouseValue<3>|mjtMouseValue<4>|mjtMouseValue<5>|mjtMouseValue<6>|mjtMouseValue<7>;
+
+export interface mjtObjValue<T extends number> {
+  value: T;
+}
+export type mjtObj = mjtObjValue<0>|mjtObjValue<1>|mjtObjValue<2>|mjtObjValue<3>|mjtObjValue<4>|mjtObjValue<5>|mjtObjValue<6>|mjtObjValue<7>|mjtObjValue<8>|mjtObjValue<9>|mjtObjValue<10>|mjtObjValue<11>|mjtObjValue<12>|mjtObjValue<13>|mjtObjValue<14>|mjtObjValue<15>|mjtObjValue<16>|mjtObjValue<17>|mjtObjValue<18>|mjtObjValue<19>|mjtObjValue<20>|mjtObjValue<21>|mjtObjValue<22>|mjtObjValue<23>|mjtObjValue<24>|mjtObjValue<25>|mjtObjValue<26>|mjtObjValue<100>|mjtObjValue<101>|mjtObjValue<102>;
+
+export interface mjtOrientationValue<T extends number> {
+  value: T;
+}
+export type mjtOrientation = mjtOrientationValue<0>|mjtOrientationValue<1>|mjtOrientationValue<2>|mjtOrientationValue<3>|mjtOrientationValue<4>;
+
+export interface mjtPertBitValue<T extends number> {
+  value: T;
+}
+export type mjtPertBit = mjtPertBitValue<1>|mjtPertBitValue<2>;
+
+export interface mjtPluginCapabilityBitValue<T extends number> {
+  value: T;
+}
+export type mjtPluginCapabilityBit = mjtPluginCapabilityBitValue<1>|mjtPluginCapabilityBitValue<2>|mjtPluginCapabilityBitValue<4>|mjtPluginCapabilityBitValue<8>;
+
+export interface mjtProjectionValue<T extends number> {
+  value: T;
+}
+export type mjtProjection = mjtProjectionValue<0>|mjtProjectionValue<1>;
+
+export interface mjtRayDataFieldValue<T extends number> {
+  value: T;
+}
+export type mjtRayDataField = mjtRayDataFieldValue<0>|mjtRayDataFieldValue<1>|mjtRayDataFieldValue<2>|mjtRayDataFieldValue<3>|mjtRayDataFieldValue<4>|mjtRayDataFieldValue<5>|mjtRayDataFieldValue<6>;
+
+export interface mjtRndFlagValue<T extends number> {
+  value: T;
+}
+export type mjtRndFlag = mjtRndFlagValue<0>|mjtRndFlagValue<1>|mjtRndFlagValue<2>|mjtRndFlagValue<3>|mjtRndFlagValue<4>|mjtRndFlagValue<5>|mjtRndFlagValue<6>|mjtRndFlagValue<7>|mjtRndFlagValue<8>|mjtRndFlagValue<9>|mjtRndFlagValue<10>|mjtRndFlagValue<11>;
+
+export interface mjtSDFTypeValue<T extends number> {
+  value: T;
+}
+export type mjtSDFType = mjtSDFTypeValue<0>|mjtSDFTypeValue<1>|mjtSDFTypeValue<2>|mjtSDFTypeValue<3>;
+
+export interface mjtSameFrameValue<T extends number> {
+  value: T;
+}
+export type mjtSameFrame = mjtSameFrameValue<0>|mjtSameFrameValue<1>|mjtSameFrameValue<2>|mjtSameFrameValue<3>|mjtSameFrameValue<4>;
+
+export interface mjtSectionValue<T extends number> {
+  value: T;
+}
+export type mjtSection = mjtSectionValue<0>|mjtSectionValue<1>|mjtSectionValue<2>;
+
+export interface mjtSensorValue<T extends number> {
+  value: T;
+}
+export type mjtSensor = mjtSensorValue<0>|mjtSensorValue<1>|mjtSensorValue<2>|mjtSensorValue<3>|mjtSensorValue<4>|mjtSensorValue<5>|mjtSensorValue<6>|mjtSensorValue<7>|mjtSensorValue<8>|mjtSensorValue<9>|mjtSensorValue<10>|mjtSensorValue<11>|mjtSensorValue<12>|mjtSensorValue<13>|mjtSensorValue<14>|mjtSensorValue<15>|mjtSensorValue<16>|mjtSensorValue<17>|mjtSensorValue<18>|mjtSensorValue<19>|mjtSensorValue<20>|mjtSensorValue<21>|mjtSensorValue<22>|mjtSensorValue<23>|mjtSensorValue<24>|mjtSensorValue<25>|mjtSensorValue<26>|mjtSensorValue<27>|mjtSensorValue<28>|mjtSensorValue<29>|mjtSensorValue<30>|mjtSensorValue<31>|mjtSensorValue<32>|mjtSensorValue<33>|mjtSensorValue<34>|mjtSensorValue<35>|mjtSensorValue<36>|mjtSensorValue<37>|mjtSensorValue<38>|mjtSensorValue<39>|mjtSensorValue<40>|mjtSensorValue<41>|mjtSensorValue<42>|mjtSensorValue<43>|mjtSensorValue<44>|mjtSensorValue<45>|mjtSensorValue<46>|mjtSensorValue<47>|mjtSensorValue<48>;
+
+export interface mjtSleepPolicyValue<T extends number> {
+  value: T;
+}
+export type mjtSleepPolicy = mjtSleepPolicyValue<0>|mjtSleepPolicyValue<1>|mjtSleepPolicyValue<2>|mjtSleepPolicyValue<3>|mjtSleepPolicyValue<4>|mjtSleepPolicyValue<5>;
+
+export interface mjtSleepStateValue<T extends number> {
+  value: T;
+}
+export type mjtSleepState = mjtSleepStateValue<-1>|mjtSleepStateValue<0>|mjtSleepStateValue<1>;
+
+export interface mjtSolverValue<T extends number> {
+  value: T;
+}
+export type mjtSolver = mjtSolverValue<0>|mjtSolverValue<1>|mjtSolverValue<2>;
+
+export interface mjtStageValue<T extends number> {
+  value: T;
+}
+export type mjtStage = mjtStageValue<0>|mjtStageValue<1>|mjtStageValue<2>|mjtStageValue<3>;
+
+export interface mjtStateValue<T extends number> {
+  value: T;
+}
+export type mjtState = mjtStateValue<1>|mjtStateValue<2>|mjtStateValue<4>|mjtStateValue<8>|mjtStateValue<16>|mjtStateValue<32>|mjtStateValue<64>|mjtStateValue<128>|mjtStateValue<256>|mjtStateValue<512>|mjtStateValue<1024>|mjtStateValue<2048>|mjtStateValue<4096>|mjtStateValue<8192>|mjtStateValue<14>|mjtStateValue<30>|mjtStateValue<8223>|mjtStateValue<8128>|mjtStateValue<16383>;
+
+export interface mjtStereoValue<T extends number> {
+  value: T;
+}
+export type mjtStereo = mjtStereoValue<0>|mjtStereoValue<1>|mjtStereoValue<2>;
+
+export interface mjtTaskStatusValue<T extends number> {
+  value: T;
+}
+export type mjtTaskStatus = mjtTaskStatusValue<0>|mjtTaskStatusValue<1>|mjtTaskStatusValue<2>;
+
+export interface mjtTextureValue<T extends number> {
+  value: T;
+}
+export type mjtTexture = mjtTextureValue<0>|mjtTextureValue<1>|mjtTextureValue<2>;
+
+export interface mjtTextureRoleValue<T extends number> {
+  value: T;
+}
+export type mjtTextureRole = mjtTextureRoleValue<0>|mjtTextureRoleValue<1>|mjtTextureRoleValue<2>|mjtTextureRoleValue<3>|mjtTextureRoleValue<4>|mjtTextureRoleValue<5>|mjtTextureRoleValue<6>|mjtTextureRoleValue<7>|mjtTextureRoleValue<8>|mjtTextureRoleValue<9>|mjtTextureRoleValue<10>;
+
+export interface mjtTimerValue<T extends number> {
+  value: T;
+}
+export type mjtTimer = mjtTimerValue<0>|mjtTimerValue<1>|mjtTimerValue<2>|mjtTimerValue<3>|mjtTimerValue<4>|mjtTimerValue<5>|mjtTimerValue<6>|mjtTimerValue<7>|mjtTimerValue<8>|mjtTimerValue<9>|mjtTimerValue<10>|mjtTimerValue<11>|mjtTimerValue<12>|mjtTimerValue<13>|mjtTimerValue<14>|mjtTimerValue<15>;
+
+export interface mjtTrnValue<T extends number> {
+  value: T;
+}
+export type mjtTrn = mjtTrnValue<0>|mjtTrnValue<1>|mjtTrnValue<2>|mjtTrnValue<3>|mjtTrnValue<4>|mjtTrnValue<5>|mjtTrnValue<1000>;
+
+export interface mjtVisFlagValue<T extends number> {
+  value: T;
+}
+export type mjtVisFlag = mjtVisFlagValue<0>|mjtVisFlagValue<1>|mjtVisFlagValue<2>|mjtVisFlagValue<3>|mjtVisFlagValue<4>|mjtVisFlagValue<5>|mjtVisFlagValue<6>|mjtVisFlagValue<7>|mjtVisFlagValue<8>|mjtVisFlagValue<9>|mjtVisFlagValue<10>|mjtVisFlagValue<11>|mjtVisFlagValue<12>|mjtVisFlagValue<13>|mjtVisFlagValue<14>|mjtVisFlagValue<15>|mjtVisFlagValue<16>|mjtVisFlagValue<17>|mjtVisFlagValue<18>|mjtVisFlagValue<19>|mjtVisFlagValue<20>|mjtVisFlagValue<21>|mjtVisFlagValue<22>|mjtVisFlagValue<23>|mjtVisFlagValue<24>|mjtVisFlagValue<25>|mjtVisFlagValue<26>|mjtVisFlagValue<27>|mjtVisFlagValue<28>|mjtVisFlagValue<29>|mjtVisFlagValue<30>|mjtVisFlagValue<31>;
+
+export interface mjtWarningValue<T extends number> {
+  value: T;
+}
+export type mjtWarning = mjtWarningValue<0>|mjtWarningValue<1>|mjtWarningValue<2>|mjtWarningValue<3>|mjtWarningValue<4>|mjtWarningValue<5>|mjtWarningValue<6>|mjtWarningValue<7>|mjtWarningValue<8>;
+
+export interface mjtWrapValue<T extends number> {
+  value: T;
+}
+export type mjtWrap = mjtWrapValue<0>|mjtWrapValue<1>|mjtWrapValue<2>|mjtWrapValue<3>|mjtWrapValue<4>|mjtWrapValue<5>;
+
+export interface MjModelActuatorAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  trntype: any;
+  dyntype: any;
+  gaintype: any;
+  biastype: any;
+  trnid: any;
+  actadr: any;
+  actnum: any;
+  group: any;
+  ctrllimited: any;
+  forcelimited: any;
+  actlimited: any;
+  dynprm: any;
+  gainprm: any;
+  biasprm: any;
+  ctrlrange: any;
+  forcerange: any;
+  actrange: any;
+  gear: any;
+  cranklength: any;
+  acc0: any;
+  length0: any;
+  lengthrange: any;
+  user: any;
+}
+
+export interface MjModelBodyAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  parentid: any;
+  rootid: any;
+  weldid: any;
+  mocapid: any;
+  jntnum: any;
+  jntadr: any;
+  dofnum: any;
+  dofadr: any;
+  geomnum: any;
+  geomadr: any;
+  simple: any;
+  sameframe: any;
+  pos: any;
+  quat: any;
+  ipos: any;
+  iquat: any;
+  mass: any;
+  subtreemass: any;
+  inertia: any;
+  invweight0: any;
+  user: any;
+}
+
+export interface MjModelCameraAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  mode: any;
+  bodyid: any;
+  targetbodyid: any;
+  pos: any;
+  quat: any;
+  poscom0: any;
+  pos0: any;
+  mat0: any;
+  fovy: any;
+  ipd: any;
+  user: any;
+}
+
+export interface MjModelEqualityAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  type: any;
+  obj1id: any;
+  obj2id: any;
+  active0: any;
+  solref: any;
+  solimp: any;
+  data: any;
+}
+
+export interface MjModelExcludeAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  signature: any;
+}
+
+export interface MjModelGeomAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  type: any;
+  contype: any;
+  conaffinity: any;
+  condim: any;
+  bodyid: any;
+  dataid: any;
+  matid: any;
+  group: any;
+  priority: any;
+  sameframe: any;
+  solmix: any;
+  solref: any;
+  solimp: any;
+  size: any;
+  rbound: any;
+  pos: any;
+  quat: any;
+  friction: any;
+  margin: any;
+  gap: any;
+  user: any;
+  rgba: any;
+}
+
+export interface MjModelHfieldAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  size: any;
+  nrow: any;
+  ncol: any;
+  adr: any;
+  data: any;
+}
+
+export interface MjModelJointAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  qpos0: any;
+  qpos_spring: any;
+  type: any;
+  qposadr: any;
+  dofadr: any;
+  group: any;
+  limited: any;
+  pos: any;
+  axis: any;
+  stiffness: any;
+  range: any;
+  margin: any;
+  user: any;
+  bodyid: any;
+  jntid: any;
+  parentid: any;
+  Madr: any;
+  simplenum: any;
+  solref: any;
+  solimp: any;
+  frictionloss: any;
+  armature: any;
+  damping: any;
+  invweight0: any;
+  M0: any;
+}
+
+export interface MjModelLightAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  mode: any;
+  bodyid: any;
+  targetbodyid: any;
+  type: any;
+  castshadow: any;
+  active: any;
+  pos: any;
+  dir: any;
+  poscom0: any;
+  pos0: any;
+  dir0: any;
+  attenuation: any;
+  cutoff: any;
+  exponent: any;
+  ambient: any;
+  diffuse: any;
+  specular: any;
+}
+
+export interface MjModelMaterialAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  texid: any;
+  texuniform: any;
+  texrepeat: any;
+  emission: any;
+  specular: any;
+  shininess: any;
+  reflectance: any;
+  rgba: any;
+}
+
+export interface MjModelMeshAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  vertadr: any;
+  vertnum: any;
+  texcoordadr: any;
+  faceadr: any;
+  facenum: any;
+  graphadr: any;
+}
+
+export interface MjModelNumericAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  adr: any;
+  size: any;
+  data: any;
+}
+
+export interface MjModelPairAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  dim: any;
+  geom1: any;
+  geom2: any;
+  signature: any;
+  solref: any;
+  solimp: any;
+  margin: any;
+  gap: any;
+  friction: any;
+}
+
+export interface MjModelSensorAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  type: any;
+  datatype: any;
+  needstage: any;
+  objtype: any;
+  objid: any;
+  reftype: any;
+  refid: any;
+  dim: any;
+  adr: any;
+  cutoff: any;
+  noise: any;
+  user: any;
+}
+
+export interface MjModelSiteAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  type: any;
+  bodyid: any;
+  matid: any;
+  group: any;
+  sameframe: any;
+  size: any;
+  pos: any;
+  quat: any;
+  user: any;
+  rgba: any;
+}
+
+export interface MjModelSkinAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  matid: any;
+  rgba: any;
+  inflate: any;
+  vertadr: any;
+  vertnum: any;
+  texcoordadr: any;
+  faceadr: any;
+  facenum: any;
+  boneadr: any;
+  bonenum: any;
+}
+
+export interface MjModelTendonAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  _adr: any;
+  _num: any;
+  _matid: any;
+  _group: any;
+  _limited: any;
+  _width: any;
+  _solref_lim: any;
+  _solimp_lim: any;
+  _solref_fri: any;
+  _solimp_fri: any;
+  _range: any;
+  _margin: any;
+  _stiffness: any;
+  _damping: any;
+  _frictionloss: any;
+  _lengthspring: any;
+  _length0: any;
+  _invweight0: any;
+  _user: any;
+  _rgba: any;
+}
+
+export interface MjModelTextureAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  type: any;
+  height: any;
+  width: any;
+  nchannel: any;
+  adr: any;
+  data: any;
+}
+
+export interface MjModelTupleAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  adr: any;
+  size: any;
+  objtype: any;
+  objid: any;
+  objprm: any;
+}
+
+export interface MjModelKeyframeAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  time: any;
+  qpos: any;
+  qvel: any;
+  act: any;
+  mpos: any;
+  mquat: any;
+  ctrl: any;
+}
+
+export interface MjDataActuatorAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  ctrl: any;
+  length: any;
+  moment: any;
+  velocity: any;
+  force: any;
+}
+
+export interface MjDataBodyAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  xfrc_applied: any;
+  xpos: any;
+  xquat: any;
+  xmat: any;
+  xipos: any;
+  ximat: any;
+  subtree_com: any;
+  cinert: any;
+  crb: any;
+  cvel: any;
+  subtree_linvel: any;
+  subtree_angmom: any;
+  cacc: any;
+  cfrc_int: any;
+  cfrc_ext: any;
+}
+
+export interface MjDataCameraAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  xpos: any;
+  xmat: any;
+}
+
+export interface MjDataGeomAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  xpos: any;
+  xmat: any;
+}
+
+export interface MjDataJointAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  qpos: any;
+  qvel: any;
+  qacc_warmstart: any;
+  qfrc_applied: any;
+  qacc: any;
+  xanchor: any;
+  xaxis: any;
+  cdof: any;
+  qLDiagInv: any;
+  cdof_dot: any;
+  qfrc_bias: any;
+  qfrc_passive: any;
+  qfrc_actuator: any;
+  qfrc_smooth: any;
+  qacc_smooth: any;
+  qfrc_constraint: any;
+  qfrc_inverse: any;
+}
+
+export interface MjDataLightAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  xpos: any;
+  xdir: any;
+}
+
+export interface MjDataSensorAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  data: any;
+}
+
+export interface MjDataSiteAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  xpos: any;
+  xmat: any;
+}
+
+export interface MjDataTendonAccessor extends ClassHandle {
+  readonly id: number;
+  readonly name: string;
+  wrapadr: any;
+  wrapnum: any;
+  J_rownnz: any;
+  J_rowadr: any;
+  J_colind: any;
+  length: any;
+  J: any;
+  velocity: any;
+}
+
+export interface MjContact extends ClassHandle {
+  dim: number;
+  efc_address: number;
+  exclude: number;
+  geom1: number;
+  geom2: number;
+  dist: number;
+  includemargin: number;
+  mu: number;
+  readonly H: any;
+  readonly elem: any;
+  readonly flex: any;
+  readonly frame: any;
+  readonly friction: any;
+  readonly geom: any;
+  readonly pos: any;
+  readonly solimp: any;
+  readonly solref: any;
+  readonly solreffriction: any;
+  readonly vert: any;
+  copy(): MjContact;
+}
+
+export interface MjData extends ClassHandle {
+  solver: MjSolverStatVec;
+  timer: MjTimerStatVec;
+  warning: MjWarningStatVec;
+  readonly contact: MjContactVec;
+  flg_energypos: number;
+  flg_energyvel: number;
+  flg_rnepost: number;
+  flg_subtreevel: number;
+  maxuse_arena: number;
+  maxuse_con: number;
+  maxuse_efc: number;
+  maxuse_stack: number;
+  nA: number;
+  nJ: number;
+  narena: number;
+  nbody_awake: number;
+  nbuffer: number;
+  ncon: number;
+  ne: number;
+  nefc: number;
+  nf: number;
+  nidof: number;
+  nisland: number;
+  nl: number;
+  nparent_awake: number;
+  nplugin: number;
+  ntree_awake: number;
+  nv_awake: number;
+  parena: number;
+  pbase: number;
+  pstack: number;
+  threadpool: number;
+  signature: bigint;
+  time: number;
+  readonly M: any;
+  readonly act: any;
+  readonly act_dot: any;
+  readonly actuator_force: any;
+  readonly actuator_length: any;
+  readonly actuator_moment: any;
+  readonly actuator_velocity: any;
+  readonly arena: any;
+  readonly body_awake: any;
+  readonly body_awake_ind: any;
+  readonly buffer: any;
+  readonly bvh_aabb_dyn: any;
+  readonly bvh_active: any;
+  readonly cacc: any;
+  readonly cam_xmat: any;
+  readonly cam_xpos: any;
+  readonly cdof: any;
+  readonly cdof_dot: any;
+  readonly cfrc_ext: any;
+  readonly cfrc_int: any;
+  readonly cinert: any;
+  readonly crb: any;
+  readonly ctrl: any;
+  readonly cvel: any;
+  readonly dof_awake_ind: any;
+  readonly dof_island: any;
+  readonly efc_AR: any;
+  readonly efc_AR_colind: any;
+  readonly efc_AR_rowadr: any;
+  readonly efc_AR_rownnz: any;
+  readonly efc_D: any;
+  readonly efc_J: any;
+  readonly efc_J_colind: any;
+  readonly efc_J_rowadr: any;
+  readonly efc_J_rownnz: any;
+  readonly efc_J_rowsuper: any;
+  readonly efc_KBIP: any;
+  readonly efc_R: any;
+  readonly efc_aref: any;
+  readonly efc_b: any;
+  readonly efc_diagApprox: any;
+  readonly efc_force: any;
+  readonly efc_frictionloss: any;
+  readonly efc_id: any;
+  readonly efc_island: any;
+  readonly efc_margin: any;
+  readonly efc_pos: any;
+  readonly efc_state: any;
+  readonly efc_type: any;
+  readonly efc_vel: any;
+  readonly energy: any;
+  readonly eq_active: any;
+  readonly flexedge_J: any;
+  readonly flexedge_length: any;
+  readonly flexedge_velocity: any;
+  readonly flexelem_aabb: any;
+  readonly flexvert_J: any;
+  readonly flexvert_length: any;
+  readonly flexvert_xpos: any;
+  readonly geom_xmat: any;
+  readonly geom_xpos: any;
+  readonly history: any;
+  readonly iLD: any;
+  readonly iLDiagInv: any;
+  readonly iM: any;
+  readonly iM_colind: any;
+  readonly iM_rowadr: any;
+  readonly iM_rownnz: any;
+  readonly iacc: any;
+  readonly iacc_smooth: any;
+  readonly iefc_D: any;
+  readonly iefc_J: any;
+  readonly iefc_J_colind: any;
+  readonly iefc_J_rowadr: any;
+  readonly iefc_J_rownnz: any;
+  readonly iefc_J_rowsuper: any;
+  readonly iefc_R: any;
+  readonly iefc_aref: any;
+  readonly iefc_force: any;
+  readonly iefc_frictionloss: any;
+  readonly iefc_id: any;
+  readonly iefc_state: any;
+  readonly iefc_type: any;
+  readonly ifrc_constraint: any;
+  readonly ifrc_smooth: any;
+  readonly island_dofadr: any;
+  readonly island_idofadr: any;
+  readonly island_iefcadr: any;
+  readonly island_itreeadr: any;
+  readonly island_ne: any;
+  readonly island_nefc: any;
+  readonly island_nf: any;
+  readonly island_ntree: any;
+  readonly island_nv: any;
+  readonly light_xdir: any;
+  readonly light_xpos: any;
+  readonly map_dof2idof: any;
+  readonly map_efc2iefc: any;
+  readonly map_idof2dof: any;
+  readonly map_iefc2efc: any;
+  readonly map_itree2tree: any;
+  readonly maxuse_threadstack: any;
+  readonly mocap_pos: any;
+  readonly mocap_quat: any;
+  readonly moment_colind: any;
+  readonly moment_rowadr: any;
+  readonly moment_rownnz: any;
+  readonly parent_awake_ind: any;
+  readonly plugin: any;
+  readonly plugin_data: any;
+  readonly plugin_state: any;
+  readonly qDeriv: any;
+  readonly qH: any;
+  readonly qHDiagInv: any;
+  readonly qLD: any;
+  readonly qLDiagInv: any;
+  readonly qLU: any;
+  readonly qM: any;
+  readonly qacc: any;
+  readonly qacc_smooth: any;
+  readonly qacc_warmstart: any;
+  readonly qfrc_actuator: any;
+  readonly qfrc_applied: any;
+  readonly qfrc_bias: any;
+  readonly qfrc_constraint: any;
+  readonly qfrc_damper: any;
+  readonly qfrc_fluid: any;
+  readonly qfrc_gravcomp: any;
+  readonly qfrc_inverse: any;
+  readonly qfrc_passive: any;
+  readonly qfrc_smooth: any;
+  readonly qfrc_spring: any;
+  readonly qpos: any;
+  readonly qvel: any;
+  readonly sensordata: any;
+  readonly site_xmat: any;
+  readonly site_xpos: any;
+  readonly solver_fwdinv: any;
+  readonly solver_niter: any;
+  readonly solver_nnz: any;
+  readonly subtree_angmom: any;
+  readonly subtree_com: any;
+  readonly subtree_linvel: any;
+  readonly ten_J: any;
+  readonly ten_J_colind: any;
+  readonly ten_J_rowadr: any;
+  readonly ten_J_rownnz: any;
+  readonly ten_length: any;
+  readonly ten_velocity: any;
+  readonly ten_wrapadr: any;
+  readonly ten_wrapnum: any;
+  readonly tendon_efcadr: any;
+  readonly tree_asleep: any;
+  readonly tree_awake: any;
+  readonly tree_island: any;
+  readonly userdata: any;
+  readonly wrap_obj: any;
+  readonly wrap_xpos: any;
+  readonly xanchor: any;
+  readonly xaxis: any;
+  readonly xfrc_applied: any;
+  readonly ximat: any;
+  readonly xipos: any;
+  readonly xmat: any;
+  readonly xpos: any;
+  readonly xquat: any;
+  actuator(_0: number|string): MjDataActuatorAccessor;
+  body(_0: number|string): MjDataBodyAccessor;
+  cam(_0: number|string): MjDataCameraAccessor;
+  geom(_0: number|string): MjDataGeomAccessor;
+  jnt(_0: number|string): MjDataJointAccessor;
+  light(_0: number|string): MjDataLightAccessor;
+  sensor(_0: number|string): MjDataSensorAccessor;
+  site(_0: number|string): MjDataSiteAccessor;
+  tendon(_0: number|string): MjDataTendonAccessor;
+}
+
+export interface MjLROpt extends ClassHandle {
+  mode: number;
+  useexisting: number;
+  uselimit: number;
+  accel: number;
+  interval: number;
+  inttotal: number;
+  maxforce: number;
+  timeconst: number;
+  timestep: number;
+  tolrange: number;
+  copy(): MjLROpt;
+}
+
+export interface MjModel extends ClassHandle {
+  opt: MjOption;
+  stat: MjStatistic;
+  vis: MjVisual;
+  nB: number;
+  nC: number;
+  nD: number;
+  nJfe: number;
+  nJfv: number;
+  nJmom: number;
+  nM: number;
+  na: number;
+  narena: number;
+  nbody: number;
+  nbuffer: number;
+  nbvh: number;
+  nbvhdynamic: number;
+  nbvhstatic: number;
+  ncam: number;
+  nconmax: number;
+  nemax: number;
+  neq: number;
+  nexclude: number;
+  nflex: number;
+  nflexedge: number;
+  nflexelem: number;
+  nflexelemdata: number;
+  nflexelemedge: number;
+  nflexevpair: number;
+  nflexnode: number;
+  nflexshelldata: number;
+  nflextexcoord: number;
+  nflexvert: number;
+  ngeom: number;
+  ngravcomp: number;
+  nhfield: number;
+  nhfielddata: number;
+  nhistory: number;
+  njmax: number;
+  njnt: number;
+  nkey: number;
+  nlight: number;
+  nmat: number;
+  nmesh: number;
+  nmeshface: number;
+  nmeshgraph: number;
+  nmeshnormal: number;
+  nmeshpoly: number;
+  nmeshpolymap: number;
+  nmeshpolyvert: number;
+  nmeshtexcoord: number;
+  nmeshvert: number;
+  nmocap: number;
+  nnames: number;
+  nnames_map: number;
+  nnumeric: number;
+  nnumericdata: number;
+  noct: number;
+  npair: number;
+  npaths: number;
+  nplugin: number;
+  npluginattr: number;
+  npluginstate: number;
+  nq: number;
+  nsensor: number;
+  nsensordata: number;
+  nsite: number;
+  nskin: number;
+  nskinbone: number;
+  nskinbonevert: number;
+  nskinface: number;
+  nskintexvert: number;
+  nskinvert: number;
+  ntendon: number;
+  ntex: number;
+  ntexdata: number;
+  ntext: number;
+  ntextdata: number;
+  ntree: number;
+  ntuple: number;
+  ntupledata: number;
+  nu: number;
+  nuser_actuator: number;
+  nuser_body: number;
+  nuser_cam: number;
+  nuser_geom: number;
+  nuser_jnt: number;
+  nuser_sensor: number;
+  nuser_site: number;
+  nuser_tendon: number;
+  nuserdata: number;
+  nv: number;
+  nwrap: number;
+  signature: bigint;
+  readonly B_colind: any;
+  readonly B_rowadr: any;
+  readonly B_rownnz: any;
+  readonly D_colind: any;
+  readonly D_diag: any;
+  readonly D_rowadr: any;
+  readonly D_rownnz: any;
+  readonly M_colind: any;
+  readonly M_rowadr: any;
+  readonly M_rownnz: any;
+  readonly actuator_acc0: any;
+  readonly actuator_actadr: any;
+  readonly actuator_actearly: any;
+  readonly actuator_actlimited: any;
+  readonly actuator_actnum: any;
+  readonly actuator_actrange: any;
+  readonly actuator_biasprm: any;
+  readonly actuator_biastype: any;
+  readonly actuator_cranklength: any;
+  readonly actuator_ctrllimited: any;
+  readonly actuator_ctrlrange: any;
+  readonly actuator_delay: any;
+  readonly actuator_dynprm: any;
+  readonly actuator_dyntype: any;
+  readonly actuator_forcelimited: any;
+  readonly actuator_forcerange: any;
+  readonly actuator_gainprm: any;
+  readonly actuator_gaintype: any;
+  readonly actuator_gear: any;
+  readonly actuator_group: any;
+  readonly actuator_history: any;
+  readonly actuator_historyadr: any;
+  readonly actuator_length0: any;
+  readonly actuator_lengthrange: any;
+  readonly actuator_plugin: any;
+  readonly actuator_trnid: any;
+  readonly actuator_trntype: any;
+  readonly actuator_user: any;
+  readonly body_bvhadr: any;
+  readonly body_bvhnum: any;
+  readonly body_conaffinity: any;
+  readonly body_contype: any;
+  readonly body_dofadr: any;
+  readonly body_dofnum: any;
+  readonly body_geomadr: any;
+  readonly body_geomnum: any;
+  readonly body_gravcomp: any;
+  readonly body_inertia: any;
+  readonly body_invweight0: any;
+  readonly body_ipos: any;
+  readonly body_iquat: any;
+  readonly body_jntadr: any;
+  readonly body_jntnum: any;
+  readonly body_margin: any;
+  readonly body_mass: any;
+  readonly body_mocapid: any;
+  readonly body_parentid: any;
+  readonly body_plugin: any;
+  readonly body_pos: any;
+  readonly body_quat: any;
+  readonly body_rootid: any;
+  readonly body_sameframe: any;
+  readonly body_simple: any;
+  readonly body_subtreemass: any;
+  readonly body_treeid: any;
+  readonly body_user: any;
+  readonly body_weldid: any;
+  readonly buffer: any;
+  readonly bvh_aabb: any;
+  readonly bvh_child: any;
+  readonly bvh_depth: any;
+  readonly bvh_nodeid: any;
+  readonly cam_bodyid: any;
+  readonly cam_fovy: any;
+  readonly cam_intrinsic: any;
+  readonly cam_ipd: any;
+  readonly cam_mat0: any;
+  readonly cam_mode: any;
+  readonly cam_output: any;
+  readonly cam_pos: any;
+  readonly cam_pos0: any;
+  readonly cam_poscom0: any;
+  readonly cam_projection: any;
+  readonly cam_quat: any;
+  readonly cam_resolution: any;
+  readonly cam_sensorsize: any;
+  readonly cam_targetbodyid: any;
+  readonly cam_user: any;
+  readonly dof_M0: any;
+  readonly dof_Madr: any;
+  readonly dof_armature: any;
+  readonly dof_bodyid: any;
+  readonly dof_damping: any;
+  readonly dof_frictionloss: any;
+  readonly dof_invweight0: any;
+  readonly dof_jntid: any;
+  readonly dof_length: any;
+  readonly dof_parentid: any;
+  readonly dof_simplenum: any;
+  readonly dof_solimp: any;
+  readonly dof_solref: any;
+  readonly dof_treeid: any;
+  readonly eq_active0: any;
+  readonly eq_data: any;
+  readonly eq_obj1id: any;
+  readonly eq_obj2id: any;
+  readonly eq_objtype: any;
+  readonly eq_solimp: any;
+  readonly eq_solref: any;
+  readonly eq_type: any;
+  readonly exclude_signature: any;
+  readonly flex_activelayers: any;
+  readonly flex_bending: any;
+  readonly flex_bvhadr: any;
+  readonly flex_bvhnum: any;
+  readonly flex_centered: any;
+  readonly flex_conaffinity: any;
+  readonly flex_condim: any;
+  readonly flex_contype: any;
+  readonly flex_damping: any;
+  readonly flex_dim: any;
+  readonly flex_edge: any;
+  readonly flex_edgeadr: any;
+  readonly flex_edgedamping: any;
+  readonly flex_edgeequality: any;
+  readonly flex_edgeflap: any;
+  readonly flex_edgenum: any;
+  readonly flex_edgestiffness: any;
+  readonly flex_elem: any;
+  readonly flex_elemadr: any;
+  readonly flex_elemdataadr: any;
+  readonly flex_elemedge: any;
+  readonly flex_elemedgeadr: any;
+  readonly flex_elemlayer: any;
+  readonly flex_elemnum: any;
+  readonly flex_elemtexcoord: any;
+  readonly flex_evpair: any;
+  readonly flex_evpairadr: any;
+  readonly flex_evpairnum: any;
+  readonly flex_flatskin: any;
+  readonly flex_friction: any;
+  readonly flex_gap: any;
+  readonly flex_group: any;
+  readonly flex_internal: any;
+  readonly flex_interp: any;
+  readonly flex_margin: any;
+  readonly flex_matid: any;
+  readonly flex_node: any;
+  readonly flex_node0: any;
+  readonly flex_nodeadr: any;
+  readonly flex_nodebodyid: any;
+  readonly flex_nodenum: any;
+  readonly flex_passive: any;
+  readonly flex_priority: any;
+  readonly flex_radius: any;
+  readonly flex_rgba: any;
+  readonly flex_rigid: any;
+  readonly flex_selfcollide: any;
+  readonly flex_shell: any;
+  readonly flex_shelldataadr: any;
+  readonly flex_shellnum: any;
+  readonly flex_size: any;
+  readonly flex_solimp: any;
+  readonly flex_solmix: any;
+  readonly flex_solref: any;
+  readonly flex_stiffness: any;
+  readonly flex_texcoord: any;
+  readonly flex_texcoordadr: any;
+  readonly flex_vert: any;
+  readonly flex_vert0: any;
+  readonly flex_vertadr: any;
+  readonly flex_vertbodyid: any;
+  readonly flex_vertedge: any;
+  readonly flex_vertedgeadr: any;
+  readonly flex_vertedgenum: any;
+  readonly flex_vertmetric: any;
+  readonly flex_vertnum: any;
+  readonly flexedge_J_colind: any;
+  readonly flexedge_J_rowadr: any;
+  readonly flexedge_J_rownnz: any;
+  readonly flexedge_invweight0: any;
+  readonly flexedge_length0: any;
+  readonly flexedge_rigid: any;
+  readonly flexvert_J_colind: any;
+  readonly flexvert_J_rowadr: any;
+  readonly flexvert_J_rownnz: any;
+  readonly geom_aabb: any;
+  readonly geom_bodyid: any;
+  readonly geom_conaffinity: any;
+  readonly geom_condim: any;
+  readonly geom_contype: any;
+  readonly geom_dataid: any;
+  readonly geom_fluid: any;
+  readonly geom_friction: any;
+  readonly geom_gap: any;
+  readonly geom_group: any;
+  readonly geom_margin: any;
+  readonly geom_matid: any;
+  readonly geom_plugin: any;
+  readonly geom_pos: any;
+  readonly geom_priority: any;
+  readonly geom_quat: any;
+  readonly geom_rbound: any;
+  readonly geom_rgba: any;
+  readonly geom_sameframe: any;
+  readonly geom_size: any;
+  readonly geom_solimp: any;
+  readonly geom_solmix: any;
+  readonly geom_solref: any;
+  readonly geom_type: any;
+  readonly geom_user: any;
+  readonly hfield_adr: any;
+  readonly hfield_data: any;
+  readonly hfield_ncol: any;
+  readonly hfield_nrow: any;
+  readonly hfield_pathadr: any;
+  readonly hfield_size: any;
+  readonly jnt_actfrclimited: any;
+  readonly jnt_actfrcrange: any;
+  readonly jnt_actgravcomp: any;
+  readonly jnt_axis: any;
+  readonly jnt_bodyid: any;
+  readonly jnt_dofadr: any;
+  readonly jnt_group: any;
+  readonly jnt_limited: any;
+  readonly jnt_margin: any;
+  readonly jnt_pos: any;
+  readonly jnt_qposadr: any;
+  readonly jnt_range: any;
+  readonly jnt_solimp: any;
+  readonly jnt_solref: any;
+  readonly jnt_stiffness: any;
+  readonly jnt_type: any;
+  readonly jnt_user: any;
+  readonly key_act: any;
+  readonly key_ctrl: any;
+  readonly key_mpos: any;
+  readonly key_mquat: any;
+  readonly key_qpos: any;
+  readonly key_qvel: any;
+  readonly key_time: any;
+  readonly light_active: any;
+  readonly light_ambient: any;
+  readonly light_attenuation: any;
+  readonly light_bodyid: any;
+  readonly light_bulbradius: any;
+  readonly light_castshadow: any;
+  readonly light_cutoff: any;
+  readonly light_diffuse: any;
+  readonly light_dir: any;
+  readonly light_dir0: any;
+  readonly light_exponent: any;
+  readonly light_intensity: any;
+  readonly light_mode: any;
+  readonly light_pos: any;
+  readonly light_pos0: any;
+  readonly light_poscom0: any;
+  readonly light_range: any;
+  readonly light_specular: any;
+  readonly light_targetbodyid: any;
+  readonly light_texid: any;
+  readonly light_type: any;
+  readonly mapD2M: any;
+  readonly mapM2D: any;
+  readonly mapM2M: any;
+  readonly mat_emission: any;
+  readonly mat_metallic: any;
+  readonly mat_reflectance: any;
+  readonly mat_rgba: any;
+  readonly mat_roughness: any;
+  readonly mat_shininess: any;
+  readonly mat_specular: any;
+  readonly mat_texid: any;
+  readonly mat_texrepeat: any;
+  readonly mat_texuniform: any;
+  readonly mesh_bvhadr: any;
+  readonly mesh_bvhnum: any;
+  readonly mesh_face: any;
+  readonly mesh_faceadr: any;
+  readonly mesh_facenormal: any;
+  readonly mesh_facenum: any;
+  readonly mesh_facetexcoord: any;
+  readonly mesh_graph: any;
+  readonly mesh_graphadr: any;
+  readonly mesh_normal: any;
+  readonly mesh_normaladr: any;
+  readonly mesh_normalnum: any;
+  readonly mesh_octadr: any;
+  readonly mesh_octnum: any;
+  readonly mesh_pathadr: any;
+  readonly mesh_polyadr: any;
+  readonly mesh_polymap: any;
+  readonly mesh_polymapadr: any;
+  readonly mesh_polymapnum: any;
+  readonly mesh_polynormal: any;
+  readonly mesh_polynum: any;
+  readonly mesh_polyvert: any;
+  readonly mesh_polyvertadr: any;
+  readonly mesh_polyvertnum: any;
+  readonly mesh_pos: any;
+  readonly mesh_quat: any;
+  readonly mesh_scale: any;
+  readonly mesh_texcoord: any;
+  readonly mesh_texcoordadr: any;
+  readonly mesh_texcoordnum: any;
+  readonly mesh_vert: any;
+  readonly mesh_vertadr: any;
+  readonly mesh_vertnum: any;
+  readonly name_actuatoradr: any;
+  readonly name_bodyadr: any;
+  readonly name_camadr: any;
+  readonly name_eqadr: any;
+  readonly name_excludeadr: any;
+  readonly name_flexadr: any;
+  readonly name_geomadr: any;
+  readonly name_hfieldadr: any;
+  readonly name_jntadr: any;
+  readonly name_keyadr: any;
+  readonly name_lightadr: any;
+  readonly name_matadr: any;
+  readonly name_meshadr: any;
+  readonly name_numericadr: any;
+  readonly name_pairadr: any;
+  readonly name_pluginadr: any;
+  readonly name_sensoradr: any;
+  readonly name_siteadr: any;
+  readonly name_skinadr: any;
+  readonly name_tendonadr: any;
+  readonly name_texadr: any;
+  readonly name_textadr: any;
+  readonly name_tupleadr: any;
+  readonly names: any;
+  readonly names_map: any;
+  readonly numeric_adr: any;
+  readonly numeric_data: any;
+  readonly numeric_size: any;
+  readonly oct_aabb: any;
+  readonly oct_child: any;
+  readonly oct_coeff: any;
+  readonly oct_depth: any;
+  readonly pair_dim: any;
+  readonly pair_friction: any;
+  readonly pair_gap: any;
+  readonly pair_geom1: any;
+  readonly pair_geom2: any;
+  readonly pair_margin: any;
+  readonly pair_signature: any;
+  readonly pair_solimp: any;
+  readonly pair_solref: any;
+  readonly pair_solreffriction: any;
+  readonly paths: any;
+  readonly plugin: any;
+  readonly plugin_attr: any;
+  readonly plugin_attradr: any;
+  readonly plugin_stateadr: any;
+  readonly plugin_statenum: any;
+  readonly qpos0: any;
+  readonly qpos_spring: any;
+  readonly sensor_adr: any;
+  readonly sensor_cutoff: any;
+  readonly sensor_datatype: any;
+  readonly sensor_delay: any;
+  readonly sensor_dim: any;
+  readonly sensor_history: any;
+  readonly sensor_historyadr: any;
+  readonly sensor_interval: any;
+  readonly sensor_intprm: any;
+  readonly sensor_needstage: any;
+  readonly sensor_noise: any;
+  readonly sensor_objid: any;
+  readonly sensor_objtype: any;
+  readonly sensor_plugin: any;
+  readonly sensor_refid: any;
+  readonly sensor_reftype: any;
+  readonly sensor_type: any;
+  readonly sensor_user: any;
+  readonly site_bodyid: any;
+  readonly site_group: any;
+  readonly site_matid: any;
+  readonly site_pos: any;
+  readonly site_quat: any;
+  readonly site_rgba: any;
+  readonly site_sameframe: any;
+  readonly site_size: any;
+  readonly site_type: any;
+  readonly site_user: any;
+  readonly skin_boneadr: any;
+  readonly skin_bonebindpos: any;
+  readonly skin_bonebindquat: any;
+  readonly skin_bonebodyid: any;
+  readonly skin_bonenum: any;
+  readonly skin_bonevertadr: any;
+  readonly skin_bonevertid: any;
+  readonly skin_bonevertnum: any;
+  readonly skin_bonevertweight: any;
+  readonly skin_face: any;
+  readonly skin_faceadr: any;
+  readonly skin_facenum: any;
+  readonly skin_group: any;
+  readonly skin_inflate: any;
+  readonly skin_matid: any;
+  readonly skin_pathadr: any;
+  readonly skin_rgba: any;
+  readonly skin_texcoord: any;
+  readonly skin_texcoordadr: any;
+  readonly skin_vert: any;
+  readonly skin_vertadr: any;
+  readonly skin_vertnum: any;
+  readonly tendon_actfrclimited: any;
+  readonly tendon_actfrcrange: any;
+  readonly tendon_adr: any;
+  readonly tendon_armature: any;
+  readonly tendon_damping: any;
+  readonly tendon_frictionloss: any;
+  readonly tendon_group: any;
+  readonly tendon_invweight0: any;
+  readonly tendon_length0: any;
+  readonly tendon_lengthspring: any;
+  readonly tendon_limited: any;
+  readonly tendon_margin: any;
+  readonly tendon_matid: any;
+  readonly tendon_num: any;
+  readonly tendon_range: any;
+  readonly tendon_rgba: any;
+  readonly tendon_solimp_fri: any;
+  readonly tendon_solimp_lim: any;
+  readonly tendon_solref_fri: any;
+  readonly tendon_solref_lim: any;
+  readonly tendon_stiffness: any;
+  readonly tendon_treeid: any;
+  readonly tendon_treenum: any;
+  readonly tendon_user: any;
+  readonly tendon_width: any;
+  readonly tex_adr: any;
+  readonly tex_colorspace: any;
+  readonly tex_data: any;
+  readonly tex_height: any;
+  readonly tex_nchannel: any;
+  readonly tex_pathadr: any;
+  readonly tex_type: any;
+  readonly tex_width: any;
+  readonly text_adr: any;
+  readonly text_data: any;
+  readonly text_size: any;
+  readonly tree_bodyadr: any;
+  readonly tree_bodynum: any;
+  readonly tree_dofadr: any;
+  readonly tree_dofnum: any;
+  readonly tree_sleep_policy: any;
+  readonly tuple_adr: any;
+  readonly tuple_objid: any;
+  readonly tuple_objprm: any;
+  readonly tuple_objtype: any;
+  readonly tuple_size: any;
+  readonly wrap_objid: any;
+  readonly wrap_prm: any;
+  readonly wrap_type: any;
+  actuator(_0: number|string): MjModelActuatorAccessor;
+  body(_0: number|string): MjModelBodyAccessor;
+  cam(_0: number|string): MjModelCameraAccessor;
+  eq(_0: number|string): MjModelEqualityAccessor;
+  exclude(_0: number|string): MjModelExcludeAccessor;
+  geom(_0: number|string): MjModelGeomAccessor;
+  hfield(_0: number|string): MjModelHfieldAccessor;
+  jnt(_0: number|string): MjModelJointAccessor;
+  light(_0: number|string): MjModelLightAccessor;
+  mat(_0: number|string): MjModelMaterialAccessor;
+  mesh(_0: number|string): MjModelMeshAccessor;
+  numeric(_0: number|string): MjModelNumericAccessor;
+  pair(_0: number|string): MjModelPairAccessor;
+  sensor(_0: number|string): MjModelSensorAccessor;
+  site(_0: number|string): MjModelSiteAccessor;
+  skin(_0: number|string): MjModelSkinAccessor;
+  tendon(_0: number|string): MjModelTendonAccessor;
+  tex(_0: number|string): MjModelTextureAccessor;
+  tuple(_0: number|string): MjModelTupleAccessor;
+  key(_0: number|string): MjModelKeyframeAccessor;
+}
+
+export interface MjOption extends ClassHandle {
+  ccd_iterations: number;
+  cone: number;
+  disableactuator: number;
+  disableflags: number;
+  enableflags: number;
+  integrator: number;
+  iterations: number;
+  jacobian: number;
+  ls_iterations: number;
+  noslip_iterations: number;
+  sdf_initpoints: number;
+  sdf_iterations: number;
+  solver: number;
+  ccd_tolerance: number;
+  density: number;
+  impratio: number;
+  ls_tolerance: number;
+  noslip_tolerance: number;
+  o_margin: number;
+  sleep_tolerance: number;
+  timestep: number;
+  tolerance: number;
+  viscosity: number;
+  readonly gravity: any;
+  readonly magnetic: any;
+  readonly o_friction: any;
+  readonly o_solimp: any;
+  readonly o_solref: any;
+  readonly wind: any;
+  copy(): MjOption;
+}
+
+export interface MjSolverStat extends ClassHandle {
+  nactive: number;
+  nchange: number;
+  neval: number;
+  nupdate: number;
+  gradient: number;
+  improvement: number;
+  lineslope: number;
+  copy(): MjSolverStat;
+}
+
+export interface MjSpec extends ClassHandle {
+  option: MjOption;
+  stat: MjStatistic;
+  visual: MjVisual;
+  compiler: MjsCompiler;
+  element: MjsElement;
+  hasImplicitPluginElem: number;
+  strippath: number;
+  memory: number;
+  nconmax: number;
+  nemax: number;
+  njmax: number;
+  nkey: number;
+  nstack: number;
+  nuser_actuator: number;
+  nuser_body: number;
+  nuser_cam: number;
+  nuser_geom: number;
+  nuser_jnt: number;
+  nuser_sensor: number;
+  nuser_site: number;
+  nuser_tendon: number;
+  nuserdata: number;
+  get comment(): string;
+  set comment(value: EmbindString);
+  get modelfiledir(): string;
+  set modelfiledir(value: EmbindString);
+  get modelname(): string;
+  set modelname(value: EmbindString);
+}
+
+export interface MjStatistic extends ClassHandle {
+  extent: number;
+  meaninertia: number;
+  meanmass: number;
+  meansize: number;
+  readonly center: any;
+  copy(): MjStatistic;
+}
+
+export interface MjTimerStat extends ClassHandle {
+  number: number;
+  duration: number;
+  copy(): MjTimerStat;
+}
+
+export interface MjVisual extends ClassHandle {
+  global: MjVisualGlobal;
+  headlight: MjVisualHeadlight;
+  map: MjVisualMap;
+  quality: MjVisualQuality;
+  rgba: MjVisualRgba;
+  scale: MjVisualScale;
+  copy(): MjVisual;
+}
+
+export interface MjVisualGlobal extends ClassHandle {
+  bvactive: number;
+  cameraid: number;
+  ellipsoidinertia: number;
+  offheight: number;
+  offwidth: number;
+  orthographic: number;
+  azimuth: number;
+  elevation: number;
+  fovy: number;
+  glow: number;
+  ipd: number;
+  linewidth: number;
+  realtime: number;
+  copy(): MjVisualGlobal;
+}
+
+export interface MjVisualHeadlight extends ClassHandle {
+  active: number;
+  readonly ambient: any;
+  readonly diffuse: any;
+  readonly specular: any;
+  copy(): MjVisualHeadlight;
+}
+
+export interface MjVisualMap extends ClassHandle {
+  actuatortendon: number;
+  alpha: number;
+  fogend: number;
+  fogstart: number;
+  force: number;
+  haze: number;
+  shadowclip: number;
+  shadowscale: number;
+  stiffness: number;
+  stiffnessrot: number;
+  torque: number;
+  zfar: number;
+  znear: number;
+  copy(): MjVisualMap;
+}
+
+export interface MjVisualQuality extends ClassHandle {
+  numquads: number;
+  numslices: number;
+  numstacks: number;
+  offsamples: number;
+  shadowsize: number;
+  copy(): MjVisualQuality;
+}
+
+export interface MjVisualRgba extends ClassHandle {
+  readonly actuator: any;
+  readonly actuatornegative: any;
+  readonly actuatorpositive: any;
+  readonly bv: any;
+  readonly bvactive: any;
+  readonly camera: any;
+  readonly com: any;
+  readonly connect: any;
+  readonly constraint: any;
+  readonly contactforce: any;
+  readonly contactfriction: any;
+  readonly contactgap: any;
+  readonly contactpoint: any;
+  readonly contacttorque: any;
+  readonly crankbroken: any;
+  readonly fog: any;
+  readonly force: any;
+  readonly frustum: any;
+  readonly haze: any;
+  readonly inertia: any;
+  readonly joint: any;
+  readonly light: any;
+  readonly rangefinder: any;
+  readonly selectpoint: any;
+  readonly slidercrank: any;
+  copy(): MjVisualRgba;
+}
+
+export interface MjVisualScale extends ClassHandle {
+  actuatorlength: number;
+  actuatorwidth: number;
+  camera: number;
+  com: number;
+  connect: number;
+  constraint: number;
+  contactheight: number;
+  contactwidth: number;
+  forcewidth: number;
+  framelength: number;
+  framewidth: number;
+  frustum: number;
+  jointlength: number;
+  jointwidth: number;
+  light: number;
+  selectpoint: number;
+  slidercrank: number;
+  copy(): MjVisualScale;
+}
+
+export interface MjWarningStat extends ClassHandle {
+  lastinfo: number;
+  number: number;
+  copy(): MjWarningStat;
+}
+
+export interface MjsActuator extends ClassHandle {
+  biastype: mjtBias;
+  dyntype: mjtDyn;
+  gaintype: mjtGain;
+  trntype: mjtTrn;
+  element: MjsElement;
+  plugin: MjsPlugin;
+  readonly userdata: mjDoubleVec;
+  actearly: number;
+  actdim: number;
+  actlimited: number;
+  ctrllimited: number;
+  forcelimited: number;
+  group: number;
+  interp: number;
+  nsample: number;
+  cranklength: number;
+  delay: number;
+  inheritrange: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get refsite(): string;
+  set refsite(value: EmbindString);
+  get slidersite(): string;
+  set slidersite(value: EmbindString);
+  get target(): string;
+  set target(value: EmbindString);
+  readonly actrange: any;
+  readonly biasprm: any;
+  readonly ctrlrange: any;
+  readonly dynprm: any;
+  readonly forcerange: any;
+  readonly gainprm: any;
+  readonly gear: any;
+  readonly lengthrange: any;
+}
+
+export interface MjsBody extends ClassHandle {
+  sleep: mjtSleepPolicy;
+  element: MjsElement;
+  alt: MjsOrientation;
+  ialt: MjsOrientation;
+  plugin: MjsPlugin;
+  readonly userdata: mjDoubleVec;
+  explicitinertial: number;
+  mocap: number;
+  gravcomp: number;
+  mass: number;
+  get childclass(): string;
+  set childclass(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  readonly fullinertia: any;
+  readonly inertia: any;
+  readonly ipos: any;
+  readonly iquat: any;
+  readonly pos: any;
+  readonly quat: any;
+}
+
+export interface MjsCamera extends ClassHandle {
+  mode: mjtCamLight;
+  proj: mjtProjection;
+  element: MjsElement;
+  alt: MjsOrientation;
+  readonly userdata: mjDoubleVec;
+  output: number;
+  fovy: number;
+  ipd: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get targetbody(): string;
+  set targetbody(value: EmbindString);
+  readonly focal_length: any;
+  readonly focal_pixel: any;
+  readonly intrinsic: any;
+  readonly pos: any;
+  readonly principal_length: any;
+  readonly principal_pixel: any;
+  readonly quat: any;
+  readonly resolution: any;
+  readonly sensor_size: any;
+}
+
+export interface MjsCompiler extends ClassHandle {
+  LRopt: MjLROpt;
+  autolimits: number;
+  balanceinertia: number;
+  degree: number;
+  discardvisual: number;
+  fitaabb: number;
+  fusestatic: number;
+  saveinertial: number;
+  usethread: number;
+  alignfree: number;
+  inertiafromgeom: number;
+  boundinertia: number;
+  boundmass: number;
+  settotalmass: number;
+  get meshdir(): string;
+  set meshdir(value: EmbindString);
+  get texturedir(): string;
+  set texturedir(value: EmbindString);
+  readonly eulerseq: any;
+  readonly inertiagrouprange: any;
+}
+
+export interface MjsDefault extends ClassHandle {
+  actuator: MjsActuator;
+  camera: MjsCamera;
+  element: MjsElement;
+  equality: MjsEquality;
+  flex: MjsFlex;
+  geom: MjsGeom;
+  joint: MjsJoint;
+  light: MjsLight;
+  material: MjsMaterial;
+  mesh: MjsMesh;
+  pair: MjsPair;
+  site: MjsSite;
+  tendon: MjsTendon;
+}
+
+export interface MjsElement extends ClassHandle {
+  elemtype: mjtObj;
+  signature: bigint;
+}
+
+export interface MjsEquality extends ClassHandle {
+  element: MjsElement;
+  objtype: mjtObj;
+  type: mjtEq;
+  active: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get name1(): string;
+  set name1(value: EmbindString);
+  get name2(): string;
+  set name2(value: EmbindString);
+  readonly data: any;
+  readonly solimp: any;
+  readonly solref: any;
+}
+
+export interface MjsExclude extends ClassHandle {
+  element: MjsElement;
+  get bodyname1(): string;
+  set bodyname1(value: EmbindString);
+  get bodyname2(): string;
+  set bodyname2(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjsFlex extends ClassHandle {
+  element: MjsElement;
+  readonly nodebody: mjStringVec;
+  readonly vertbody: mjStringVec;
+  readonly elem: mjIntVec;
+  readonly elemtexcoord: mjIntVec;
+  readonly texcoord: mjFloatVec;
+  readonly node: mjDoubleVec;
+  readonly vert: mjDoubleVec;
+  flatskin: number;
+  internal: number;
+  activelayers: number;
+  conaffinity: number;
+  condim: number;
+  contype: number;
+  dim: number;
+  elastic2d: number;
+  group: number;
+  passive: number;
+  priority: number;
+  selfcollide: number;
+  vertcollide: number;
+  damping: number;
+  edgedamping: number;
+  edgestiffness: number;
+  gap: number;
+  margin: number;
+  poisson: number;
+  radius: number;
+  solmix: number;
+  thickness: number;
+  young: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  readonly friction: any;
+  readonly rgba: any;
+  readonly size: any;
+  readonly solimp: any;
+  readonly solref: any;
+}
+
+export interface MjsFrame extends ClassHandle {
+  element: MjsElement;
+  alt: MjsOrientation;
+  get childclass(): string;
+  set childclass(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  readonly pos: any;
+  readonly quat: any;
+}
+
+export interface MjsGeom extends ClassHandle {
+  element: MjsElement;
+  type: mjtGeom;
+  typeinertia: mjtGeomInertia;
+  alt: MjsOrientation;
+  plugin: MjsPlugin;
+  readonly userdata: mjDoubleVec;
+  conaffinity: number;
+  condim: number;
+  contype: number;
+  group: number;
+  priority: number;
+  density: number;
+  fitscale: number;
+  fluid_ellipsoid: number;
+  gap: number;
+  margin: number;
+  mass: number;
+  solmix: number;
+  get hfieldname(): string;
+  set hfieldname(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  get meshname(): string;
+  set meshname(value: EmbindString);
+  readonly fluid_coefs: any;
+  readonly friction: any;
+  readonly fromto: any;
+  readonly pos: any;
+  readonly quat: any;
+  readonly rgba: any;
+  readonly size: any;
+  readonly solimp: any;
+  readonly solref: any;
+}
+
+export interface MjsHField extends ClassHandle {
+  element: MjsElement;
+  readonly userdata: mjFloatVec;
+  ncol: number;
+  nrow: number;
+  get content_type(): string;
+  set content_type(value: EmbindString);
+  get file(): string;
+  set file(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  readonly size: any;
+}
+
+export interface MjsJoint extends ClassHandle {
+  element: MjsElement;
+  type: mjtJoint;
+  readonly userdata: mjDoubleVec;
+  actgravcomp: number;
+  actfrclimited: number;
+  align: number;
+  group: number;
+  limited: number;
+  armature: number;
+  damping: number;
+  frictionloss: number;
+  margin: number;
+  ref: number;
+  springref: number;
+  stiffness: number;
+  get info(): string;
+  set info(value: EmbindString);
+  readonly actfrcrange: any;
+  readonly axis: any;
+  readonly pos: any;
+  readonly range: any;
+  readonly solimp_friction: any;
+  readonly solimp_limit: any;
+  readonly solref_friction: any;
+  readonly solref_limit: any;
+  readonly springdamper: any;
+}
+
+export interface MjsKey extends ClassHandle {
+  element: MjsElement;
+  readonly act: mjDoubleVec;
+  readonly ctrl: mjDoubleVec;
+  readonly mpos: mjDoubleVec;
+  readonly mquat: mjDoubleVec;
+  readonly qpos: mjDoubleVec;
+  readonly qvel: mjDoubleVec;
+  time: number;
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjsLight extends ClassHandle {
+  element: MjsElement;
+  mode: mjtCamLight;
+  type: mjtLightType;
+  active: number;
+  castshadow: number;
+  bulbradius: number;
+  cutoff: number;
+  exponent: number;
+  intensity: number;
+  range: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get targetbody(): string;
+  set targetbody(value: EmbindString);
+  get texture(): string;
+  set texture(value: EmbindString);
+  readonly ambient: any;
+  readonly attenuation: any;
+  readonly diffuse: any;
+  readonly dir: any;
+  readonly pos: any;
+  readonly specular: any;
+}
+
+export interface MjsMaterial extends ClassHandle {
+  element: MjsElement;
+  readonly textures: mjStringVec;
+  texuniform: number;
+  emission: number;
+  metallic: number;
+  reflectance: number;
+  roughness: number;
+  shininess: number;
+  specular: number;
+  get info(): string;
+  set info(value: EmbindString);
+  readonly rgba: any;
+  readonly texrepeat: any;
+}
+
+export interface MjsMesh extends ClassHandle {
+  element: MjsElement;
+  inertia: mjtMeshInertia;
+  plugin: MjsPlugin;
+  readonly userface: mjIntVec;
+  readonly userfacenormal: mjIntVec;
+  readonly userfacetexcoord: mjIntVec;
+  readonly usernormal: mjFloatVec;
+  readonly usertexcoord: mjFloatVec;
+  readonly uservert: mjFloatVec;
+  needsdf: number;
+  smoothnormal: number;
+  maxhullvert: number;
+  get content_type(): string;
+  set content_type(value: EmbindString);
+  get file(): string;
+  set file(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  readonly refpos: any;
+  readonly refquat: any;
+  readonly scale: any;
+}
+
+export interface MjsNumeric extends ClassHandle {
+  element: MjsElement;
+  readonly data: mjDoubleVec;
+  size: number;
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjsOrientation extends ClassHandle {
+  type: mjtOrientation;
+  readonly axisangle: any;
+  readonly euler: any;
+  readonly xyaxes: any;
+  readonly zaxis: any;
+}
+
+export interface MjsPair extends ClassHandle {
+  element: MjsElement;
+  condim: number;
+  gap: number;
+  margin: number;
+  get geomname1(): string;
+  set geomname1(value: EmbindString);
+  get geomname2(): string;
+  set geomname2(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  readonly friction: any;
+  readonly solimp: any;
+  readonly solref: any;
+  readonly solreffriction: any;
+}
+
+export interface MjsPlugin extends ClassHandle {
+  element: MjsElement;
+  active: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get name(): string;
+  set name(value: EmbindString);
+  get plugin_name(): string;
+  set plugin_name(value: EmbindString);
+}
+
+export interface MjsSensor extends ClassHandle {
+  datatype: mjtDataType;
+  element: MjsElement;
+  needstage: mjtStage;
+  objtype: mjtObj;
+  plugin: MjsPlugin;
+  reftype: mjtObj;
+  type: mjtSensor;
+  readonly userdata: mjDoubleVec;
+  dim: number;
+  interp: number;
+  nsample: number;
+  cutoff: number;
+  delay: number;
+  noise: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get objname(): string;
+  set objname(value: EmbindString);
+  get refname(): string;
+  set refname(value: EmbindString);
+  readonly interval: any;
+  readonly intprm: any;
+}
+
+export interface MjsSite extends ClassHandle {
+  alt: MjsOrientation;
+  element: MjsElement;
+  type: mjtGeom;
+  readonly userdata: mjDoubleVec;
+  group: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  readonly fromto: any;
+  readonly pos: any;
+  readonly quat: any;
+  readonly rgba: any;
+  readonly size: any;
+}
+
+export interface MjsSkin extends ClassHandle {
+  element: MjsElement;
+  readonly bodyname: mjStringVec;
+  readonly face: mjIntVec;
+  readonly vertid: mjIntVecVec;
+  readonly bindpos: mjFloatVec;
+  readonly bindquat: mjFloatVec;
+  readonly texcoord: mjFloatVec;
+  readonly vert: mjFloatVec;
+  readonly vertweight: mjFloatVecVec;
+  group: number;
+  inflate: number;
+  get file(): string;
+  set file(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  readonly rgba: any;
+}
+
+export interface MjsTendon extends ClassHandle {
+  element: MjsElement;
+  readonly userdata: mjDoubleVec;
+  actfrclimited: number;
+  group: number;
+  limited: number;
+  armature: number;
+  damping: number;
+  frictionloss: number;
+  margin: number;
+  stiffness: number;
+  width: number;
+  get info(): string;
+  set info(value: EmbindString);
+  get material(): string;
+  set material(value: EmbindString);
+  readonly actfrcrange: any;
+  readonly range: any;
+  readonly rgba: any;
+  readonly solimp_friction: any;
+  readonly solimp_limit: any;
+  readonly solref_friction: any;
+  readonly solref_limit: any;
+  readonly springlength: any;
+}
+
+export interface MjsText extends ClassHandle {
+  element: MjsElement;
+  get data(): string;
+  set data(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjsTexture extends ClassHandle {
+  colorspace: mjtColorSpace;
+  element: MjsElement;
+  type: mjtTexture;
+  readonly cubefiles: mjStringVec;
+  readonly data: mjByteVec;
+  hflip: number;
+  vflip: number;
+  builtin: number;
+  height: number;
+  mark: number;
+  nchannel: number;
+  width: number;
+  random: number;
+  get content_type(): string;
+  set content_type(value: EmbindString);
+  get file(): string;
+  set file(value: EmbindString);
+  get info(): string;
+  set info(value: EmbindString);
+  readonly gridlayout: any;
+  readonly gridsize: any;
+  readonly markrgb: any;
+  readonly rgb1: any;
+  readonly rgb2: any;
+}
+
+export interface MjsTuple extends ClassHandle {
+  element: MjsElement;
+  readonly objname: mjStringVec;
+  readonly objtype: mjIntVec;
+  readonly objprm: mjDoubleVec;
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjsWrap extends ClassHandle {
+  element: MjsElement;
+  type: mjtWrap;
+  get info(): string;
+  set info(value: EmbindString);
+}
+
+export interface MjvCamera extends ClassHandle {
+  fixedcamid: number;
+  orthographic: number;
+  trackbodyid: number;
+  type: number;
+  azimuth: number;
+  distance: number;
+  elevation: number;
+  readonly lookat: any;
+  copy(): MjvCamera;
+}
+
+export interface MjvFigure extends ClassHandle {
+  flg_barplot: number;
+  flg_extend: number;
+  flg_legend: number;
+  flg_selection: number;
+  flg_symmetric: number;
+  highlightid: number;
+  legendoffset: number;
+  subplot: number;
+  gridwidth: number;
+  linewidth: number;
+  selection: number;
+  readonly figurergba: any;
+  readonly flg_ticklabel: any;
+  readonly gridrgb: any;
+  readonly gridsize: any;
+  readonly highlight: any;
+  readonly legendrgba: any;
+  readonly linedata: any;
+  readonly linename: any;
+  readonly linepnt: any;
+  readonly linergb: any;
+  readonly minwidth: any;
+  readonly panergba: any;
+  readonly range: any;
+  readonly textrgb: any;
+  readonly title: any;
+  readonly xaxisdata: any;
+  readonly xaxispixel: any;
+  readonly xformat: any;
+  readonly xlabel: any;
+  readonly yaxisdata: any;
+  readonly yaxispixel: any;
+  readonly yformat: any;
+  copy(): MjvFigure;
+}
+
+export interface MjvGLCamera extends ClassHandle {
+  orthographic: number;
+  frustum_bottom: number;
+  frustum_center: number;
+  frustum_far: number;
+  frustum_near: number;
+  frustum_top: number;
+  frustum_width: number;
+  readonly forward: any;
+  readonly pos: any;
+  readonly up: any;
+  copy(): MjvGLCamera;
+}
+
+export interface MjvGeom extends ClassHandle {
+  transparent: number;
+  category: number;
+  dataid: number;
+  matid: number;
+  objid: number;
+  objtype: number;
+  segid: number;
+  texcoord: number;
+  type: number;
+  camdist: number;
+  emission: number;
+  modelrbound: number;
+  reflectance: number;
+  shininess: number;
+  specular: number;
+  readonly label: any;
+  readonly mat: any;
+  readonly pos: any;
+  readonly rgba: any;
+  readonly size: any;
+  copy(): MjvGeom;
+}
+
+export interface MjvLight extends ClassHandle {
+  castshadow: number;
+  headlight: number;
+  id: number;
+  texid: number;
+  type: number;
+  bulbradius: number;
+  cutoff: number;
+  exponent: number;
+  intensity: number;
+  range: number;
+  readonly ambient: any;
+  readonly attenuation: any;
+  readonly diffuse: any;
+  readonly dir: any;
+  readonly pos: any;
+  readonly specular: any;
+  copy(): MjvLight;
+}
+
+export interface MjvOption extends ClassHandle {
+  bvh_depth: number;
+  flex_layer: number;
+  frame: number;
+  label: number;
+  readonly actuatorgroup: any;
+  readonly flags: any;
+  readonly flexgroup: any;
+  readonly geomgroup: any;
+  readonly jointgroup: any;
+  readonly sitegroup: any;
+  readonly skingroup: any;
+  readonly tendongroup: any;
+  copy(): MjvOption;
+}
+
+export interface MjvPerturb extends ClassHandle {
+  active: number;
+  active2: number;
+  flexselect: number;
+  select: number;
+  skinselect: number;
+  localmass: number;
+  scale: number;
+  readonly localpos: any;
+  readonly refpos: any;
+  readonly refquat: any;
+  readonly refselpos: any;
+  copy(): MjvPerturb;
+}
+
+export interface MjvScene extends ClassHandle {
+  lights: MjvLightVec;
+  camera: MjvGLCameraVec;
+  readonly geoms: MjvGeomVec;
+  enabletransform: number;
+  flexedgeopt: number;
+  flexfaceopt: number;
+  flexskinopt: number;
+  flexvertopt: number;
+  framewidth: number;
+  maxgeom: number;
+  nflex: number;
+  ngeom: number;
+  nlight: number;
+  nskin: number;
+  status: number;
+  stereo: number;
+  scale: number;
+  readonly flags: any;
+  readonly flexedge: any;
+  readonly flexedgeadr: any;
+  readonly flexedgenum: any;
+  readonly flexface: any;
+  readonly flexfaceadr: any;
+  readonly flexfacenum: any;
+  readonly flexfaceused: any;
+  readonly flexnormal: any;
+  readonly flextexcoord: any;
+  readonly flexvert: any;
+  readonly flexvertadr: any;
+  readonly flexvertnum: any;
+  readonly framergb: any;
+  readonly geomorder: any;
+  readonly rotate: any;
+  readonly skinfacenum: any;
+  readonly skinnormal: any;
+  readonly skinvert: any;
+  readonly skinvertadr: any;
+  readonly skinvertnum: any;
+  readonly translate: any;
+}
+
+export interface MjVFS extends ClassHandle {
+  deleteFile(_0: EmbindString): void;
+  addBuffer(_0: EmbindString, _1: any): void;
+}
+
+export interface FloatBuffer extends ClassHandle {
+  GetElementCount(): number;
+  GetPointer(): number;
+  GetView(): any;
+}
+
+export interface DoubleBuffer extends ClassHandle {
+  GetElementCount(): number;
+  GetPointer(): number;
+  GetView(): any;
+}
+
+export interface IntBuffer extends ClassHandle {
+  GetElementCount(): number;
+  GetPointer(): number;
+  GetView(): any;
+}
+
+export interface Uint8Buffer extends ClassHandle {
+  GetElementCount(): number;
+  GetPointer(): number;
+  GetView(): any;
+}
+
+export interface mjStringVec extends ClassHandle {
+  size(): number;
+  get(_0: number): EmbindString | undefined;
+  push_back(_0: EmbindString): void;
+  resize(_0: number, _1: EmbindString): void;
+  set(_0: number, _1: EmbindString): boolean;
+}
+
+export interface mjIntVec extends ClassHandle {
+  push_back(_0: number): void;
+  resize(_0: number, _1: number): void;
+  size(): number;
+  get(_0: number): number | undefined;
+  set(_0: number, _1: number): boolean;
+}
+
+export interface mjIntVecVec extends ClassHandle {
+  push_back(_0: mjIntVec): void;
+  resize(_0: number, _1: mjIntVec): void;
+  size(): number;
+  get(_0: number): mjIntVec | undefined;
+  set(_0: number, _1: mjIntVec): boolean;
+}
+
+export interface mjFloatVec extends ClassHandle {
+  size(): number;
+  get(_0: number): number | undefined;
+  push_back(_0: number): void;
+  resize(_0: number, _1: number): void;
+  set(_0: number, _1: number): boolean;
+}
+
+export interface mjFloatVecVec extends ClassHandle {
+  push_back(_0: mjFloatVec): void;
+  resize(_0: number, _1: mjFloatVec): void;
+  size(): number;
+  get(_0: number): mjFloatVec | undefined;
+  set(_0: number, _1: mjFloatVec): boolean;
+}
+
+export interface mjDoubleVec extends ClassHandle {
+  size(): number;
+  get(_0: number): number | undefined;
+  push_back(_0: number): void;
+  resize(_0: number, _1: number): void;
+  set(_0: number, _1: number): boolean;
+}
+
+export interface mjByteVec extends ClassHandle {
+  push_back(_0: number): void;
+  resize(_0: number, _1: number): void;
+  size(): number;
+  get(_0: number): number | undefined;
+  set(_0: number, _1: number): boolean;
+}
+
+export interface MjSolverStatVec extends ClassHandle {
+  push_back(_0: MjSolverStat): void;
+  resize(_0: number, _1: MjSolverStat): void;
+  size(): number;
+  get(_0: number): MjSolverStat | undefined;
+  set(_0: number, _1: MjSolverStat): boolean;
+}
+
+export interface MjTimerStatVec extends ClassHandle {
+  push_back(_0: MjTimerStat): void;
+  resize(_0: number, _1: MjTimerStat): void;
+  size(): number;
+  get(_0: number): MjTimerStat | undefined;
+  set(_0: number, _1: MjTimerStat): boolean;
+}
+
+export interface MjWarningStatVec extends ClassHandle {
+  push_back(_0: MjWarningStat): void;
+  resize(_0: number, _1: MjWarningStat): void;
+  size(): number;
+  get(_0: number): MjWarningStat | undefined;
+  set(_0: number, _1: MjWarningStat): boolean;
+}
+
+export interface MjContactVec extends ClassHandle {
+  push_back(_0: MjContact): void;
+  resize(_0: number, _1: MjContact): void;
+  size(): number;
+  get(_0: number): MjContact | undefined;
+  set(_0: number, _1: MjContact): boolean;
+}
+
+export interface MjvLightVec extends ClassHandle {
+  push_back(_0: MjvLight): void;
+  resize(_0: number, _1: MjvLight): void;
+  size(): number;
+  get(_0: number): MjvLight | undefined;
+  set(_0: number, _1: MjvLight): boolean;
+}
+
+export interface MjvGLCameraVec extends ClassHandle {
+  push_back(_0: MjvGLCamera): void;
+  resize(_0: number, _1: MjvGLCamera): void;
+  size(): number;
+  get(_0: number): MjvGLCamera | undefined;
+  set(_0: number, _1: MjvGLCamera): boolean;
+}
+
+export interface MjvGeomVec extends ClassHandle {
+  push_back(_0: MjvGeom): void;
+  resize(_0: number, _1: MjvGeom): void;
+  size(): number;
+  get(_0: number): MjvGeom | undefined;
+  set(_0: number, _1: MjvGeom): boolean;
+}
+
+interface EmbindModule {
+  mjtAlignFree: {mjALIGNFREE_FALSE: mjtAlignFreeValue<0>, mjALIGNFREE_TRUE: mjtAlignFreeValue<1>, mjALIGNFREE_AUTO: mjtAlignFreeValue<2>};
+  mjtBias: {mjBIAS_NONE: mjtBiasValue<0>, mjBIAS_AFFINE: mjtBiasValue<1>, mjBIAS_MUSCLE: mjtBiasValue<2>, mjBIAS_USER: mjtBiasValue<3>};
+  mjtBuiltin: {mjBUILTIN_NONE: mjtBuiltinValue<0>, mjBUILTIN_GRADIENT: mjtBuiltinValue<1>, mjBUILTIN_CHECKER: mjtBuiltinValue<2>, mjBUILTIN_FLAT: mjtBuiltinValue<3>};
+  mjtButton: {mjBUTTON_NONE: mjtButtonValue<0>, mjBUTTON_LEFT: mjtButtonValue<1>, mjBUTTON_RIGHT: mjtButtonValue<2>, mjBUTTON_MIDDLE: mjtButtonValue<3>};
+  mjtCamLight: {mjCAMLIGHT_FIXED: mjtCamLightValue<0>, mjCAMLIGHT_TRACK: mjtCamLightValue<1>, mjCAMLIGHT_TRACKCOM: mjtCamLightValue<2>, mjCAMLIGHT_TARGETBODY: mjtCamLightValue<3>, mjCAMLIGHT_TARGETBODYCOM: mjtCamLightValue<4>};
+  mjtCamOutBit: {mjCAMOUT_RGB: mjtCamOutBitValue<1>, mjCAMOUT_DEPTH: mjtCamOutBitValue<2>, mjCAMOUT_DIST: mjtCamOutBitValue<4>, mjCAMOUT_NORMAL: mjtCamOutBitValue<8>, mjCAMOUT_SEG: mjtCamOutBitValue<16>, mjNCAMOUT: mjtCamOutBitValue<5>};
+  mjtCamera: {mjCAMERA_FREE: mjtCameraValue<0>, mjCAMERA_TRACKING: mjtCameraValue<1>, mjCAMERA_FIXED: mjtCameraValue<2>, mjCAMERA_USER: mjtCameraValue<3>};
+  mjtCatBit: {mjCAT_STATIC: mjtCatBitValue<1>, mjCAT_DYNAMIC: mjtCatBitValue<2>, mjCAT_DECOR: mjtCatBitValue<4>, mjCAT_ALL: mjtCatBitValue<7>};
+  mjtColorSpace: {mjCOLORSPACE_AUTO: mjtColorSpaceValue<0>, mjCOLORSPACE_LINEAR: mjtColorSpaceValue<1>, mjCOLORSPACE_SRGB: mjtColorSpaceValue<2>};
+  mjtConDataField: {mjCONDATA_FOUND: mjtConDataFieldValue<0>, mjCONDATA_FORCE: mjtConDataFieldValue<1>, mjCONDATA_TORQUE: mjtConDataFieldValue<2>, mjCONDATA_DIST: mjtConDataFieldValue<3>, mjCONDATA_POS: mjtConDataFieldValue<4>, mjCONDATA_NORMAL: mjtConDataFieldValue<5>, mjCONDATA_TANGENT: mjtConDataFieldValue<6>, mjNCONDATA: mjtConDataFieldValue<7>};
+  mjtCone: {mjCONE_PYRAMIDAL: mjtConeValue<0>, mjCONE_ELLIPTIC: mjtConeValue<1>};
+  mjtConstraint: {mjCNSTR_EQUALITY: mjtConstraintValue<0>, mjCNSTR_FRICTION_DOF: mjtConstraintValue<1>, mjCNSTR_FRICTION_TENDON: mjtConstraintValue<2>, mjCNSTR_LIMIT_JOINT: mjtConstraintValue<3>, mjCNSTR_LIMIT_TENDON: mjtConstraintValue<4>, mjCNSTR_CONTACT_FRICTIONLESS: mjtConstraintValue<5>, mjCNSTR_CONTACT_PYRAMIDAL: mjtConstraintValue<6>, mjCNSTR_CONTACT_ELLIPTIC: mjtConstraintValue<7>};
+  mjtConstraintState: {mjCNSTRSTATE_SATISFIED: mjtConstraintStateValue<0>, mjCNSTRSTATE_QUADRATIC: mjtConstraintStateValue<1>, mjCNSTRSTATE_LINEARNEG: mjtConstraintStateValue<2>, mjCNSTRSTATE_LINEARPOS: mjtConstraintStateValue<3>, mjCNSTRSTATE_CONE: mjtConstraintStateValue<4>};
+  mjtDataType: {mjDATATYPE_REAL: mjtDataTypeValue<0>, mjDATATYPE_POSITIVE: mjtDataTypeValue<1>, mjDATATYPE_AXIS: mjtDataTypeValue<2>, mjDATATYPE_QUATERNION: mjtDataTypeValue<3>};
+  mjtDepthMap: {mjDEPTH_ZERONEAR: mjtDepthMapValue<0>, mjDEPTH_ZEROFAR: mjtDepthMapValue<1>};
+  mjtDisableBit: {mjDSBL_CONSTRAINT: mjtDisableBitValue<1>, mjDSBL_EQUALITY: mjtDisableBitValue<2>, mjDSBL_FRICTIONLOSS: mjtDisableBitValue<4>, mjDSBL_LIMIT: mjtDisableBitValue<8>, mjDSBL_CONTACT: mjtDisableBitValue<16>, mjDSBL_SPRING: mjtDisableBitValue<32>, mjDSBL_DAMPER: mjtDisableBitValue<64>, mjDSBL_GRAVITY: mjtDisableBitValue<128>, mjDSBL_CLAMPCTRL: mjtDisableBitValue<256>, mjDSBL_WARMSTART: mjtDisableBitValue<512>, mjDSBL_FILTERPARENT: mjtDisableBitValue<1024>, mjDSBL_ACTUATION: mjtDisableBitValue<2048>, mjDSBL_REFSAFE: mjtDisableBitValue<4096>, mjDSBL_SENSOR: mjtDisableBitValue<8192>, mjDSBL_MIDPHASE: mjtDisableBitValue<16384>, mjDSBL_EULERDAMP: mjtDisableBitValue<32768>, mjDSBL_AUTORESET: mjtDisableBitValue<65536>, mjDSBL_NATIVECCD: mjtDisableBitValue<131072>, mjDSBL_ISLAND: mjtDisableBitValue<262144>, mjNDISABLE: mjtDisableBitValue<19>};
+  mjtDyn: {mjDYN_NONE: mjtDynValue<0>, mjDYN_INTEGRATOR: mjtDynValue<1>, mjDYN_FILTER: mjtDynValue<2>, mjDYN_FILTEREXACT: mjtDynValue<3>, mjDYN_MUSCLE: mjtDynValue<4>, mjDYN_USER: mjtDynValue<5>};
+  mjtEnableBit: {mjENBL_OVERRIDE: mjtEnableBitValue<1>, mjENBL_ENERGY: mjtEnableBitValue<2>, mjENBL_FWDINV: mjtEnableBitValue<4>, mjENBL_INVDISCRETE: mjtEnableBitValue<8>, mjENBL_MULTICCD: mjtEnableBitValue<16>, mjENBL_SLEEP: mjtEnableBitValue<32>, mjNENABLE: mjtEnableBitValue<6>};
+  mjtEq: {mjEQ_CONNECT: mjtEqValue<0>, mjEQ_WELD: mjtEqValue<1>, mjEQ_JOINT: mjtEqValue<2>, mjEQ_TENDON: mjtEqValue<3>, mjEQ_FLEX: mjtEqValue<4>, mjEQ_FLEXVERT: mjtEqValue<5>, mjEQ_DISTANCE: mjtEqValue<6>};
+  mjtEvent: {mjEVENT_NONE: mjtEventValue<0>, mjEVENT_MOVE: mjtEventValue<1>, mjEVENT_PRESS: mjtEventValue<2>, mjEVENT_RELEASE: mjtEventValue<3>, mjEVENT_SCROLL: mjtEventValue<4>, mjEVENT_KEY: mjtEventValue<5>, mjEVENT_RESIZE: mjtEventValue<6>, mjEVENT_REDRAW: mjtEventValue<7>, mjEVENT_FILESDROP: mjtEventValue<8>};
+  mjtFlexSelf: {mjFLEXSELF_NONE: mjtFlexSelfValue<0>, mjFLEXSELF_NARROW: mjtFlexSelfValue<1>, mjFLEXSELF_BVH: mjtFlexSelfValue<2>, mjFLEXSELF_SAP: mjtFlexSelfValue<3>, mjFLEXSELF_AUTO: mjtFlexSelfValue<4>};
+  mjtFont: {mjFONT_NORMAL: mjtFontValue<0>, mjFONT_SHADOW: mjtFontValue<1>, mjFONT_BIG: mjtFontValue<2>};
+  mjtFontScale: {mjFONTSCALE_50: mjtFontScaleValue<50>, mjFONTSCALE_100: mjtFontScaleValue<100>, mjFONTSCALE_150: mjtFontScaleValue<150>, mjFONTSCALE_200: mjtFontScaleValue<200>, mjFONTSCALE_250: mjtFontScaleValue<250>, mjFONTSCALE_300: mjtFontScaleValue<300>};
+  mjtFrame: {mjFRAME_NONE: mjtFrameValue<0>, mjFRAME_BODY: mjtFrameValue<1>, mjFRAME_GEOM: mjtFrameValue<2>, mjFRAME_SITE: mjtFrameValue<3>, mjFRAME_CAMERA: mjtFrameValue<4>, mjFRAME_LIGHT: mjtFrameValue<5>, mjFRAME_CONTACT: mjtFrameValue<6>, mjFRAME_WORLD: mjtFrameValue<7>, mjNFRAME: mjtFrameValue<8>};
+  mjtFramebuffer: {mjFB_WINDOW: mjtFramebufferValue<0>, mjFB_OFFSCREEN: mjtFramebufferValue<1>};
+  mjtGain: {mjGAIN_FIXED: mjtGainValue<0>, mjGAIN_AFFINE: mjtGainValue<1>, mjGAIN_MUSCLE: mjtGainValue<2>, mjGAIN_USER: mjtGainValue<3>};
+  mjtGeom: {mjGEOM_PLANE: mjtGeomValue<0>, mjGEOM_HFIELD: mjtGeomValue<1>, mjGEOM_SPHERE: mjtGeomValue<2>, mjGEOM_CAPSULE: mjtGeomValue<3>, mjGEOM_ELLIPSOID: mjtGeomValue<4>, mjGEOM_CYLINDER: mjtGeomValue<5>, mjGEOM_BOX: mjtGeomValue<6>, mjGEOM_MESH: mjtGeomValue<7>, mjGEOM_SDF: mjtGeomValue<8>, mjNGEOMTYPES: mjtGeomValue<9>, mjGEOM_ARROW: mjtGeomValue<100>, mjGEOM_ARROW1: mjtGeomValue<101>, mjGEOM_ARROW2: mjtGeomValue<102>, mjGEOM_LINE: mjtGeomValue<103>, mjGEOM_LINEBOX: mjtGeomValue<104>, mjGEOM_FLEX: mjtGeomValue<105>, mjGEOM_SKIN: mjtGeomValue<106>, mjGEOM_LABEL: mjtGeomValue<107>, mjGEOM_TRIANGLE: mjtGeomValue<108>, mjGEOM_NONE: mjtGeomValue<1001>};
+  mjtGeomInertia: {mjINERTIA_VOLUME: mjtGeomInertiaValue<0>, mjINERTIA_SHELL: mjtGeomInertiaValue<1>};
+  mjtGridPos: {mjGRID_TOPLEFT: mjtGridPosValue<0>, mjGRID_TOPRIGHT: mjtGridPosValue<1>, mjGRID_BOTTOMLEFT: mjtGridPosValue<2>, mjGRID_BOTTOMRIGHT: mjtGridPosValue<3>, mjGRID_TOP: mjtGridPosValue<4>, mjGRID_BOTTOM: mjtGridPosValue<5>, mjGRID_LEFT: mjtGridPosValue<6>, mjGRID_RIGHT: mjtGridPosValue<7>};
+  mjtInertiaFromGeom: {mjINERTIAFROMGEOM_FALSE: mjtInertiaFromGeomValue<0>, mjINERTIAFROMGEOM_TRUE: mjtInertiaFromGeomValue<1>, mjINERTIAFROMGEOM_AUTO: mjtInertiaFromGeomValue<2>};
+  mjtIntegrator: {mjINT_EULER: mjtIntegratorValue<0>, mjINT_RK4: mjtIntegratorValue<1>, mjINT_IMPLICIT: mjtIntegratorValue<2>, mjINT_IMPLICITFAST: mjtIntegratorValue<3>};
+  mjtItem: {mjITEM_END: mjtItemValue<-2>, mjITEM_SECTION: mjtItemValue<-1>, mjITEM_SEPARATOR: mjtItemValue<0>, mjITEM_STATIC: mjtItemValue<1>, mjITEM_BUTTON: mjtItemValue<2>, mjITEM_CHECKINT: mjtItemValue<3>, mjITEM_CHECKBYTE: mjtItemValue<4>, mjITEM_RADIO: mjtItemValue<5>, mjITEM_RADIOLINE: mjtItemValue<6>, mjITEM_SELECT: mjtItemValue<7>, mjITEM_SLIDERINT: mjtItemValue<8>, mjITEM_SLIDERNUM: mjtItemValue<9>, mjITEM_EDITINT: mjtItemValue<10>, mjITEM_EDITNUM: mjtItemValue<11>, mjITEM_EDITFLOAT: mjtItemValue<12>, mjITEM_EDITTXT: mjtItemValue<13>, mjNITEM: mjtItemValue<14>};
+  mjtJacobian: {mjJAC_DENSE: mjtJacobianValue<0>, mjJAC_SPARSE: mjtJacobianValue<1>, mjJAC_AUTO: mjtJacobianValue<2>};
+  mjtJoint: {mjJNT_FREE: mjtJointValue<0>, mjJNT_BALL: mjtJointValue<1>, mjJNT_SLIDE: mjtJointValue<2>, mjJNT_HINGE: mjtJointValue<3>};
+  mjtLRMode: {mjLRMODE_NONE: mjtLRModeValue<0>, mjLRMODE_MUSCLE: mjtLRModeValue<1>, mjLRMODE_MUSCLEUSER: mjtLRModeValue<2>, mjLRMODE_ALL: mjtLRModeValue<3>};
+  mjtLabel: {mjLABEL_NONE: mjtLabelValue<0>, mjLABEL_BODY: mjtLabelValue<1>, mjLABEL_JOINT: mjtLabelValue<2>, mjLABEL_GEOM: mjtLabelValue<3>, mjLABEL_SITE: mjtLabelValue<4>, mjLABEL_CAMERA: mjtLabelValue<5>, mjLABEL_LIGHT: mjtLabelValue<6>, mjLABEL_TENDON: mjtLabelValue<7>, mjLABEL_ACTUATOR: mjtLabelValue<8>, mjLABEL_CONSTRAINT: mjtLabelValue<9>, mjLABEL_FLEX: mjtLabelValue<10>, mjLABEL_SKIN: mjtLabelValue<11>, mjLABEL_SELECTION: mjtLabelValue<12>, mjLABEL_SELPNT: mjtLabelValue<13>, mjLABEL_CONTACTPOINT: mjtLabelValue<14>, mjLABEL_CONTACTFORCE: mjtLabelValue<15>, mjLABEL_ISLAND: mjtLabelValue<16>, mjNLABEL: mjtLabelValue<17>};
+  mjtLightType: {mjLIGHT_SPOT: mjtLightTypeValue<0>, mjLIGHT_DIRECTIONAL: mjtLightTypeValue<1>, mjLIGHT_POINT: mjtLightTypeValue<2>, mjLIGHT_IMAGE: mjtLightTypeValue<3>};
+  mjtLimited: {mjLIMITED_FALSE: mjtLimitedValue<0>, mjLIMITED_TRUE: mjtLimitedValue<1>, mjLIMITED_AUTO: mjtLimitedValue<2>};
+  mjtMark: {mjMARK_NONE: mjtMarkValue<0>, mjMARK_EDGE: mjtMarkValue<1>, mjMARK_CROSS: mjtMarkValue<2>, mjMARK_RANDOM: mjtMarkValue<3>};
+  mjtMeshBuiltin: {mjMESH_BUILTIN_NONE: mjtMeshBuiltinValue<0>, mjMESH_BUILTIN_SPHERE: mjtMeshBuiltinValue<1>, mjMESH_BUILTIN_HEMISPHERE: mjtMeshBuiltinValue<2>, mjMESH_BUILTIN_CONE: mjtMeshBuiltinValue<3>, mjMESH_BUILTIN_SUPERSPHERE: mjtMeshBuiltinValue<4>, mjMESH_BUILTIN_SUPERTORUS: mjtMeshBuiltinValue<5>, mjMESH_BUILTIN_WEDGE: mjtMeshBuiltinValue<6>, mjMESH_BUILTIN_PLATE: mjtMeshBuiltinValue<7>};
+  mjtMeshInertia: {mjMESH_INERTIA_CONVEX: mjtMeshInertiaValue<0>, mjMESH_INERTIA_EXACT: mjtMeshInertiaValue<1>, mjMESH_INERTIA_LEGACY: mjtMeshInertiaValue<2>, mjMESH_INERTIA_SHELL: mjtMeshInertiaValue<3>};
+  mjtMouse: {mjMOUSE_NONE: mjtMouseValue<0>, mjMOUSE_ROTATE_V: mjtMouseValue<1>, mjMOUSE_ROTATE_H: mjtMouseValue<2>, mjMOUSE_MOVE_V: mjtMouseValue<3>, mjMOUSE_MOVE_H: mjtMouseValue<4>, mjMOUSE_ZOOM: mjtMouseValue<5>, mjMOUSE_MOVE_V_REL: mjtMouseValue<6>, mjMOUSE_MOVE_H_REL: mjtMouseValue<7>};
+  mjtObj: {mjOBJ_UNKNOWN: mjtObjValue<0>, mjOBJ_BODY: mjtObjValue<1>, mjOBJ_XBODY: mjtObjValue<2>, mjOBJ_JOINT: mjtObjValue<3>, mjOBJ_DOF: mjtObjValue<4>, mjOBJ_GEOM: mjtObjValue<5>, mjOBJ_SITE: mjtObjValue<6>, mjOBJ_CAMERA: mjtObjValue<7>, mjOBJ_LIGHT: mjtObjValue<8>, mjOBJ_FLEX: mjtObjValue<9>, mjOBJ_MESH: mjtObjValue<10>, mjOBJ_SKIN: mjtObjValue<11>, mjOBJ_HFIELD: mjtObjValue<12>, mjOBJ_TEXTURE: mjtObjValue<13>, mjOBJ_MATERIAL: mjtObjValue<14>, mjOBJ_PAIR: mjtObjValue<15>, mjOBJ_EXCLUDE: mjtObjValue<16>, mjOBJ_EQUALITY: mjtObjValue<17>, mjOBJ_TENDON: mjtObjValue<18>, mjOBJ_ACTUATOR: mjtObjValue<19>, mjOBJ_SENSOR: mjtObjValue<20>, mjOBJ_NUMERIC: mjtObjValue<21>, mjOBJ_TEXT: mjtObjValue<22>, mjOBJ_TUPLE: mjtObjValue<23>, mjOBJ_KEY: mjtObjValue<24>, mjOBJ_PLUGIN: mjtObjValue<25>, mjNOBJECT: mjtObjValue<26>, mjOBJ_FRAME: mjtObjValue<100>, mjOBJ_DEFAULT: mjtObjValue<101>, mjOBJ_MODEL: mjtObjValue<102>};
+  mjtOrientation: {mjORIENTATION_QUAT: mjtOrientationValue<0>, mjORIENTATION_AXISANGLE: mjtOrientationValue<1>, mjORIENTATION_XYAXES: mjtOrientationValue<2>, mjORIENTATION_ZAXIS: mjtOrientationValue<3>, mjORIENTATION_EULER: mjtOrientationValue<4>};
+  mjtPertBit: {mjPERT_TRANSLATE: mjtPertBitValue<1>, mjPERT_ROTATE: mjtPertBitValue<2>};
+  mjtPluginCapabilityBit: {mjPLUGIN_ACTUATOR: mjtPluginCapabilityBitValue<1>, mjPLUGIN_SENSOR: mjtPluginCapabilityBitValue<2>, mjPLUGIN_PASSIVE: mjtPluginCapabilityBitValue<4>, mjPLUGIN_SDF: mjtPluginCapabilityBitValue<8>};
+  mjtProjection: {mjPROJ_PERSPECTIVE: mjtProjectionValue<0>, mjPROJ_ORTHOGRAPHIC: mjtProjectionValue<1>};
+  mjtRayDataField: {mjRAYDATA_DIST: mjtRayDataFieldValue<0>, mjRAYDATA_DIR: mjtRayDataFieldValue<1>, mjRAYDATA_ORIGIN: mjtRayDataFieldValue<2>, mjRAYDATA_POINT: mjtRayDataFieldValue<3>, mjRAYDATA_NORMAL: mjtRayDataFieldValue<4>, mjRAYDATA_DEPTH: mjtRayDataFieldValue<5>, mjNRAYDATA: mjtRayDataFieldValue<6>};
+  mjtRndFlag: {mjRND_SHADOW: mjtRndFlagValue<0>, mjRND_WIREFRAME: mjtRndFlagValue<1>, mjRND_REFLECTION: mjtRndFlagValue<2>, mjRND_ADDITIVE: mjtRndFlagValue<3>, mjRND_SKYBOX: mjtRndFlagValue<4>, mjRND_FOG: mjtRndFlagValue<5>, mjRND_HAZE: mjtRndFlagValue<6>, mjRND_DEPTH: mjtRndFlagValue<7>, mjRND_SEGMENT: mjtRndFlagValue<8>, mjRND_IDCOLOR: mjtRndFlagValue<9>, mjRND_CULL_FACE: mjtRndFlagValue<10>, mjNRNDFLAG: mjtRndFlagValue<11>};
+  mjtSDFType: {mjSDFTYPE_SINGLE: mjtSDFTypeValue<0>, mjSDFTYPE_INTERSECTION: mjtSDFTypeValue<1>, mjSDFTYPE_MIDSURFACE: mjtSDFTypeValue<2>, mjSDFTYPE_COLLISION: mjtSDFTypeValue<3>};
+  mjtSameFrame: {mjSAMEFRAME_NONE: mjtSameFrameValue<0>, mjSAMEFRAME_BODY: mjtSameFrameValue<1>, mjSAMEFRAME_INERTIA: mjtSameFrameValue<2>, mjSAMEFRAME_BODYROT: mjtSameFrameValue<3>, mjSAMEFRAME_INERTIAROT: mjtSameFrameValue<4>};
+  mjtSection: {mjSECT_CLOSED: mjtSectionValue<0>, mjSECT_OPEN: mjtSectionValue<1>, mjSECT_FIXED: mjtSectionValue<2>};
+  mjtSensor: {mjSENS_TOUCH: mjtSensorValue<0>, mjSENS_ACCELEROMETER: mjtSensorValue<1>, mjSENS_VELOCIMETER: mjtSensorValue<2>, mjSENS_GYRO: mjtSensorValue<3>, mjSENS_FORCE: mjtSensorValue<4>, mjSENS_TORQUE: mjtSensorValue<5>, mjSENS_MAGNETOMETER: mjtSensorValue<6>, mjSENS_RANGEFINDER: mjtSensorValue<7>, mjSENS_CAMPROJECTION: mjtSensorValue<8>, mjSENS_JOINTPOS: mjtSensorValue<9>, mjSENS_JOINTVEL: mjtSensorValue<10>, mjSENS_TENDONPOS: mjtSensorValue<11>, mjSENS_TENDONVEL: mjtSensorValue<12>, mjSENS_ACTUATORPOS: mjtSensorValue<13>, mjSENS_ACTUATORVEL: mjtSensorValue<14>, mjSENS_ACTUATORFRC: mjtSensorValue<15>, mjSENS_JOINTACTFRC: mjtSensorValue<16>, mjSENS_TENDONACTFRC: mjtSensorValue<17>, mjSENS_BALLQUAT: mjtSensorValue<18>, mjSENS_BALLANGVEL: mjtSensorValue<19>, mjSENS_JOINTLIMITPOS: mjtSensorValue<20>, mjSENS_JOINTLIMITVEL: mjtSensorValue<21>, mjSENS_JOINTLIMITFRC: mjtSensorValue<22>, mjSENS_TENDONLIMITPOS: mjtSensorValue<23>, mjSENS_TENDONLIMITVEL: mjtSensorValue<24>, mjSENS_TENDONLIMITFRC: mjtSensorValue<25>, mjSENS_FRAMEPOS: mjtSensorValue<26>, mjSENS_FRAMEQUAT: mjtSensorValue<27>, mjSENS_FRAMEXAXIS: mjtSensorValue<28>, mjSENS_FRAMEYAXIS: mjtSensorValue<29>, mjSENS_FRAMEZAXIS: mjtSensorValue<30>, mjSENS_FRAMELINVEL: mjtSensorValue<31>, mjSENS_FRAMEANGVEL: mjtSensorValue<32>, mjSENS_FRAMELINACC: mjtSensorValue<33>, mjSENS_FRAMEANGACC: mjtSensorValue<34>, mjSENS_SUBTREECOM: mjtSensorValue<35>, mjSENS_SUBTREELINVEL: mjtSensorValue<36>, mjSENS_SUBTREEANGMOM: mjtSensorValue<37>, mjSENS_INSIDESITE: mjtSensorValue<38>, mjSENS_GEOMDIST: mjtSensorValue<39>, mjSENS_GEOMNORMAL: mjtSensorValue<40>, mjSENS_GEOMFROMTO: mjtSensorValue<41>, mjSENS_CONTACT: mjtSensorValue<42>, mjSENS_E_POTENTIAL: mjtSensorValue<43>, mjSENS_E_KINETIC: mjtSensorValue<44>, mjSENS_CLOCK: mjtSensorValue<45>, mjSENS_TACTILE: mjtSensorValue<46>, mjSENS_PLUGIN: mjtSensorValue<47>, mjSENS_USER: mjtSensorValue<48>};
+  mjtSleepPolicy: {mjSLEEP_AUTO: mjtSleepPolicyValue<0>, mjSLEEP_AUTO_NEVER: mjtSleepPolicyValue<1>, mjSLEEP_AUTO_ALLOWED: mjtSleepPolicyValue<2>, mjSLEEP_NEVER: mjtSleepPolicyValue<3>, mjSLEEP_ALLOWED: mjtSleepPolicyValue<4>, mjSLEEP_INIT: mjtSleepPolicyValue<5>};
+  mjtSleepState: {mjS_STATIC: mjtSleepStateValue<-1>, mjS_ASLEEP: mjtSleepStateValue<0>, mjS_AWAKE: mjtSleepStateValue<1>};
+  mjtSolver: {mjSOL_PGS: mjtSolverValue<0>, mjSOL_CG: mjtSolverValue<1>, mjSOL_NEWTON: mjtSolverValue<2>};
+  mjtStage: {mjSTAGE_NONE: mjtStageValue<0>, mjSTAGE_POS: mjtStageValue<1>, mjSTAGE_VEL: mjtStageValue<2>, mjSTAGE_ACC: mjtStageValue<3>};
+  mjtState: {mjSTATE_TIME: mjtStateValue<1>, mjSTATE_QPOS: mjtStateValue<2>, mjSTATE_QVEL: mjtStateValue<4>, mjSTATE_ACT: mjtStateValue<8>, mjSTATE_HISTORY: mjtStateValue<16>, mjSTATE_WARMSTART: mjtStateValue<32>, mjSTATE_CTRL: mjtStateValue<64>, mjSTATE_QFRC_APPLIED: mjtStateValue<128>, mjSTATE_XFRC_APPLIED: mjtStateValue<256>, mjSTATE_EQ_ACTIVE: mjtStateValue<512>, mjSTATE_MOCAP_POS: mjtStateValue<1024>, mjSTATE_MOCAP_QUAT: mjtStateValue<2048>, mjSTATE_USERDATA: mjtStateValue<4096>, mjSTATE_PLUGIN: mjtStateValue<8192>, mjNSTATE: mjtStateValue<14>, mjSTATE_PHYSICS: mjtStateValue<30>, mjSTATE_FULLPHYSICS: mjtStateValue<8223>, mjSTATE_USER: mjtStateValue<8128>, mjSTATE_INTEGRATION: mjtStateValue<16383>};
+  mjtStereo: {mjSTEREO_NONE: mjtStereoValue<0>, mjSTEREO_QUADBUFFERED: mjtStereoValue<1>, mjSTEREO_SIDEBYSIDE: mjtStereoValue<2>};
+  mjtTaskStatus: {mjTASK_NEW: mjtTaskStatusValue<0>, mjTASK_QUEUED: mjtTaskStatusValue<1>, mjTASK_COMPLETED: mjtTaskStatusValue<2>};
+  mjtTexture: {mjTEXTURE_2D: mjtTextureValue<0>, mjTEXTURE_CUBE: mjtTextureValue<1>, mjTEXTURE_SKYBOX: mjtTextureValue<2>};
+  mjtTextureRole: {mjTEXROLE_USER: mjtTextureRoleValue<0>, mjTEXROLE_RGB: mjtTextureRoleValue<1>, mjTEXROLE_OCCLUSION: mjtTextureRoleValue<2>, mjTEXROLE_ROUGHNESS: mjtTextureRoleValue<3>, mjTEXROLE_METALLIC: mjtTextureRoleValue<4>, mjTEXROLE_NORMAL: mjtTextureRoleValue<5>, mjTEXROLE_OPACITY: mjtTextureRoleValue<6>, mjTEXROLE_EMISSIVE: mjtTextureRoleValue<7>, mjTEXROLE_RGBA: mjtTextureRoleValue<8>, mjTEXROLE_ORM: mjtTextureRoleValue<9>, mjNTEXROLE: mjtTextureRoleValue<10>};
+  mjtTimer: {mjTIMER_STEP: mjtTimerValue<0>, mjTIMER_FORWARD: mjtTimerValue<1>, mjTIMER_INVERSE: mjtTimerValue<2>, mjTIMER_POSITION: mjtTimerValue<3>, mjTIMER_VELOCITY: mjtTimerValue<4>, mjTIMER_ACTUATION: mjtTimerValue<5>, mjTIMER_CONSTRAINT: mjtTimerValue<6>, mjTIMER_ADVANCE: mjtTimerValue<7>, mjTIMER_POS_KINEMATICS: mjtTimerValue<8>, mjTIMER_POS_INERTIA: mjtTimerValue<9>, mjTIMER_POS_COLLISION: mjtTimerValue<10>, mjTIMER_POS_MAKE: mjtTimerValue<11>, mjTIMER_POS_PROJECT: mjtTimerValue<12>, mjTIMER_COL_BROAD: mjtTimerValue<13>, mjTIMER_COL_NARROW: mjtTimerValue<14>, mjNTIMER: mjtTimerValue<15>};
+  mjtTrn: {mjTRN_JOINT: mjtTrnValue<0>, mjTRN_JOINTINPARENT: mjtTrnValue<1>, mjTRN_SLIDERCRANK: mjtTrnValue<2>, mjTRN_TENDON: mjtTrnValue<3>, mjTRN_SITE: mjtTrnValue<4>, mjTRN_BODY: mjtTrnValue<5>, mjTRN_UNDEFINED: mjtTrnValue<1000>};
+  mjtVisFlag: {mjVIS_CONVEXHULL: mjtVisFlagValue<0>, mjVIS_TEXTURE: mjtVisFlagValue<1>, mjVIS_JOINT: mjtVisFlagValue<2>, mjVIS_CAMERA: mjtVisFlagValue<3>, mjVIS_ACTUATOR: mjtVisFlagValue<4>, mjVIS_ACTIVATION: mjtVisFlagValue<5>, mjVIS_LIGHT: mjtVisFlagValue<6>, mjVIS_TENDON: mjtVisFlagValue<7>, mjVIS_RANGEFINDER: mjtVisFlagValue<8>, mjVIS_CONSTRAINT: mjtVisFlagValue<9>, mjVIS_INERTIA: mjtVisFlagValue<10>, mjVIS_SCLINERTIA: mjtVisFlagValue<11>, mjVIS_PERTFORCE: mjtVisFlagValue<12>, mjVIS_PERTOBJ: mjtVisFlagValue<13>, mjVIS_CONTACTPOINT: mjtVisFlagValue<14>, mjVIS_ISLAND: mjtVisFlagValue<15>, mjVIS_CONTACTFORCE: mjtVisFlagValue<16>, mjVIS_CONTACTSPLIT: mjtVisFlagValue<17>, mjVIS_TRANSPARENT: mjtVisFlagValue<18>, mjVIS_AUTOCONNECT: mjtVisFlagValue<19>, mjVIS_COM: mjtVisFlagValue<20>, mjVIS_SELECT: mjtVisFlagValue<21>, mjVIS_STATIC: mjtVisFlagValue<22>, mjVIS_SKIN: mjtVisFlagValue<23>, mjVIS_FLEXVERT: mjtVisFlagValue<24>, mjVIS_FLEXEDGE: mjtVisFlagValue<25>, mjVIS_FLEXFACE: mjtVisFlagValue<26>, mjVIS_FLEXSKIN: mjtVisFlagValue<27>, mjVIS_BODYBVH: mjtVisFlagValue<28>, mjVIS_MESHBVH: mjtVisFlagValue<29>, mjVIS_SDFITER: mjtVisFlagValue<30>, mjNVISFLAG: mjtVisFlagValue<31>};
+  mjtWarning: {mjWARN_INERTIA: mjtWarningValue<0>, mjWARN_CONTACTFULL: mjtWarningValue<1>, mjWARN_CNSTRFULL: mjtWarningValue<2>, mjWARN_VGEOMFULL: mjtWarningValue<3>, mjWARN_BADQPOS: mjtWarningValue<4>, mjWARN_BADQVEL: mjtWarningValue<5>, mjWARN_BADQACC: mjtWarningValue<6>, mjWARN_BADCTRL: mjtWarningValue<7>, mjNWARNING: mjtWarningValue<8>};
+  mjtWrap: {mjWRAP_NONE: mjtWrapValue<0>, mjWRAP_JOINT: mjtWrapValue<1>, mjWRAP_PULLEY: mjtWrapValue<2>, mjWRAP_SITE: mjtWrapValue<3>, mjWRAP_SPHERE: mjtWrapValue<4>, mjWRAP_CYLINDER: mjtWrapValue<5>};
+  MjModelActuatorAccessor: {};
+  MjModelBodyAccessor: {};
+  MjModelCameraAccessor: {};
+  MjModelEqualityAccessor: {};
+  MjModelExcludeAccessor: {};
+  MjModelGeomAccessor: {};
+  MjModelHfieldAccessor: {};
+  MjModelJointAccessor: {};
+  MjModelLightAccessor: {};
+  MjModelMaterialAccessor: {};
+  MjModelMeshAccessor: {};
+  MjModelNumericAccessor: {};
+  MjModelPairAccessor: {};
+  MjModelSensorAccessor: {};
+  MjModelSiteAccessor: {};
+  MjModelSkinAccessor: {};
+  MjModelTendonAccessor: {};
+  MjModelTextureAccessor: {};
+  MjModelTupleAccessor: {};
+  MjModelKeyframeAccessor: {};
+  MjDataActuatorAccessor: {};
+  MjDataBodyAccessor: {};
+  MjDataCameraAccessor: {};
+  MjDataGeomAccessor: {};
+  MjDataJointAccessor: {};
+  MjDataLightAccessor: {};
+  MjDataSensorAccessor: {};
+  MjDataSiteAccessor: {};
+  MjDataTendonAccessor: {};
+  MjContact: {
+    new(): MjContact;
+  };
+  MjData: {
+    new(_0: MjModel, _1: MjData): MjData;
+    new(_0: MjModel | null): MjData;
+  };
+  MjLROpt: {
+    new(): MjLROpt;
+  };
+  MjModel: {
+    new(_0: MjModel): MjModel;
+    mj_loadXML(_0: EmbindString): MjModel;
+    mj_loadBinary(_0: EmbindString, _1: MjVFS): MjModel;
+  };
+  MjOption: {
+    new(): MjOption;
+  };
+  MjSolverStat: {
+    new(): MjSolverStat;
+  };
+  MjSpec: {
+    new(_0: MjSpec): MjSpec;
+  };
+  MjStatistic: {
+    new(): MjStatistic;
+  };
+  MjTimerStat: {
+    new(): MjTimerStat;
+  };
+  MjVisual: {
+    new(): MjVisual;
+  };
+  MjVisualGlobal: {
+    new(): MjVisualGlobal;
+  };
+  MjVisualHeadlight: {
+    new(): MjVisualHeadlight;
+  };
+  MjVisualMap: {
+    new(): MjVisualMap;
+  };
+  MjVisualQuality: {
+    new(): MjVisualQuality;
+  };
+  MjVisualRgba: {
+    new(): MjVisualRgba;
+  };
+  MjVisualScale: {
+    new(): MjVisualScale;
+  };
+  MjWarningStat: {
+    new(): MjWarningStat;
+  };
+  MjsActuator: {};
+  MjsBody: {};
+  MjsCamera: {};
+  MjsCompiler: {};
+  MjsDefault: {};
+  MjsElement: {};
+  MjsEquality: {};
+  MjsExclude: {};
+  MjsFlex: {};
+  MjsFrame: {};
+  MjsGeom: {};
+  MjsHField: {};
+  MjsJoint: {};
+  MjsKey: {};
+  MjsLight: {};
+  MjsMaterial: {};
+  MjsMesh: {};
+  MjsNumeric: {};
+  MjsOrientation: {};
+  MjsPair: {};
+  MjsPlugin: {};
+  MjsSensor: {};
+  MjsSite: {};
+  MjsSkin: {};
+  MjsTendon: {};
+  MjsText: {};
+  MjsTexture: {};
+  MjsTuple: {};
+  MjsWrap: {};
+  MjvCamera: {
+    new(): MjvCamera;
+  };
+  MjvFigure: {
+    new(): MjvFigure;
+  };
+  MjvGLCamera: {
+    new(): MjvGLCamera;
+  };
+  MjvGeom: {
+    new(): MjvGeom;
+  };
+  MjvLight: {
+    new(): MjvLight;
+  };
+  MjvOption: {
+    new(): MjvOption;
+  };
+  MjvPerturb: {
+    new(): MjvPerturb;
+  };
+  MjvScene: {
+    new(): MjvScene;
+    new(_0: MjModel | null, _1: number): MjvScene;
+  };
+  MjVFS: {
+    new(): MjVFS;
+  };
+  mjs_addActuator(_0: MjSpec, _1: MjsDefault): MjsActuator | undefined;
+  mjs_addBody(_0: MjsBody, _1: MjsDefault): MjsBody | undefined;
+  mjs_addCamera(_0: MjsBody, _1: MjsDefault): MjsCamera | undefined;
+  mjs_addEquality(_0: MjSpec, _1: MjsDefault): MjsEquality | undefined;
+  mjs_addExclude(_0: MjSpec): MjsExclude | undefined;
+  mjs_addFlex(_0: MjSpec): MjsFlex | undefined;
+  mjs_addFrame(_0: MjsBody, _1: MjsFrame): MjsFrame | undefined;
+  mjs_addFreeJoint(_0: MjsBody): MjsJoint | undefined;
+  mjs_addGeom(_0: MjsBody, _1: MjsDefault): MjsGeom | undefined;
+  mjs_addHField(_0: MjSpec): MjsHField | undefined;
+  mjs_addJoint(_0: MjsBody, _1: MjsDefault): MjsJoint | undefined;
+  mjs_addKey(_0: MjSpec): MjsKey | undefined;
+  mjs_addLight(_0: MjsBody, _1: MjsDefault): MjsLight | undefined;
+  mjs_addMaterial(_0: MjSpec, _1: MjsDefault): MjsMaterial | undefined;
+  mjs_addMesh(_0: MjSpec, _1: MjsDefault): MjsMesh | undefined;
+  mjs_addNumeric(_0: MjSpec): MjsNumeric | undefined;
+  mjs_addPair(_0: MjSpec, _1: MjsDefault): MjsPair | undefined;
+  mjs_addPlugin(_0: MjSpec): MjsPlugin | undefined;
+  mjs_addSensor(_0: MjSpec): MjsSensor | undefined;
+  mjs_addSite(_0: MjsBody, _1: MjsDefault): MjsSite | undefined;
+  mjs_addSkin(_0: MjSpec): MjsSkin | undefined;
+  mjs_addTendon(_0: MjSpec, _1: MjsDefault): MjsTendon | undefined;
+  mjs_addText(_0: MjSpec): MjsText | undefined;
+  mjs_addTexture(_0: MjSpec): MjsTexture | undefined;
+  mjs_addTuple(_0: MjSpec): MjsTuple | undefined;
+  mjs_asActuator(_0: MjsElement): MjsActuator | undefined;
+  mjs_asBody(_0: MjsElement): MjsBody | undefined;
+  mjs_asCamera(_0: MjsElement): MjsCamera | undefined;
+  mjs_asEquality(_0: MjsElement): MjsEquality | undefined;
+  mjs_asExclude(_0: MjsElement): MjsExclude | undefined;
+  mjs_asFlex(_0: MjsElement): MjsFlex | undefined;
+  mjs_asFrame(_0: MjsElement): MjsFrame | undefined;
+  mjs_asGeom(_0: MjsElement): MjsGeom | undefined;
+  mjs_asHField(_0: MjsElement): MjsHField | undefined;
+  mjs_asJoint(_0: MjsElement): MjsJoint | undefined;
+  mjs_asKey(_0: MjsElement): MjsKey | undefined;
+  mjs_asLight(_0: MjsElement): MjsLight | undefined;
+  mjs_asMaterial(_0: MjsElement): MjsMaterial | undefined;
+  mjs_asMesh(_0: MjsElement): MjsMesh | undefined;
+  mjs_asNumeric(_0: MjsElement): MjsNumeric | undefined;
+  mjs_asPair(_0: MjsElement): MjsPair | undefined;
+  mjs_asPlugin(_0: MjsElement): MjsPlugin | undefined;
+  mjs_asSensor(_0: MjsElement): MjsSensor | undefined;
+  mjs_asSite(_0: MjsElement): MjsSite | undefined;
+  mjs_asSkin(_0: MjsElement): MjsSkin | undefined;
+  mjs_asTendon(_0: MjsElement): MjsTendon | undefined;
+  mjs_asText(_0: MjsElement): MjsText | undefined;
+  mjs_asTexture(_0: MjsElement): MjsTexture | undefined;
+  mjs_asTuple(_0: MjsElement): MjsTuple | undefined;
+  mjs_firstElement(_0: MjSpec, _1: mjtObj): MjsElement | undefined;
+  mjs_getDefault(_0: MjsElement): MjsDefault | undefined;
+  mjs_getFrame(_0: MjsElement): MjsFrame | undefined;
+  mjs_getParent(_0: MjsElement): MjsBody | undefined;
+  mjs_getSpec(_0: MjsElement): MjSpec | undefined;
+  mjs_getSpecDefault(_0: MjSpec): MjsDefault | undefined;
+  mjs_getWrapSideSite(_0: MjsWrap): MjsSite | undefined;
+  mjs_getWrapTarget(_0: MjsWrap): MjsElement | undefined;
+  mjs_nextElement(_0: MjSpec, _1: MjsElement): MjsElement | undefined;
+  mj_compile(_0: MjSpec): MjModel;
+  mj_compile(_0: MjSpec, _1: MjVFS): MjModel;
+  FloatBuffer: {
+    new(_0: number): FloatBuffer;
+    FromArray(_0: any): FloatBuffer;
+  };
+  DoubleBuffer: {
+    new(_0: number): DoubleBuffer;
+    FromArray(_0: any): DoubleBuffer;
+  };
+  IntBuffer: {
+    new(_0: number): IntBuffer;
+    FromArray(_0: any): IntBuffer;
+  };
+  Uint8Buffer: {
+    new(_0: number): Uint8Buffer;
+    FromArray(_0: any): Uint8Buffer;
+  };
+  mjStringVec: {
+    new(): mjStringVec;
+  };
+  mjIntVec: {
+    new(): mjIntVec;
+  };
+  mjIntVecVec: {
+    new(): mjIntVecVec;
+  };
+  mjFloatVec: {
+    new(): mjFloatVec;
+  };
+  mjFloatVecVec: {
+    new(): mjFloatVecVec;
+  };
+  mjDoubleVec: {
+    new(): mjDoubleVec;
+  };
+  mjByteVec: {
+    new(): mjByteVec;
+  };
+  MjSolverStatVec: {
+    new(): MjSolverStatVec;
+  };
+  MjTimerStatVec: {
+    new(): MjTimerStatVec;
+  };
+  MjWarningStatVec: {
+    new(): MjWarningStatVec;
+  };
+  MjContactVec: {
+    new(): MjContactVec;
+  };
+  MjvLightVec: {
+    new(): MjvLightVec;
+  };
+  MjvGLCameraVec: {
+    new(): MjvGLCameraVec;
+  };
+  MjvGeomVec: {
+    new(): MjvGeomVec;
+  };
+  mjs_addDefault(_0: MjSpec, _1: string, _2: MjsDefault): MjsDefault | undefined;
+  mjs_attach(_0: MjsElement, _1: MjsElement, _2: string, _3: string): MjsElement | undefined;
+  mjs_findBody(_0: MjSpec, _1: string): MjsBody | undefined;
+  mjs_findChild(_0: MjsBody, _1: string): MjsBody | undefined;
+  mjs_findDefault(_0: MjSpec, _1: string): MjsDefault | undefined;
+  mjs_findElement(_0: MjSpec, _1: mjtObj, _2: string): MjsElement | undefined;
+  mjs_findFrame(_0: MjSpec, _1: string): MjsFrame | undefined;
+  mjs_findSpec(_0: MjSpec, _1: string): MjSpec | undefined;
+  mjs_wrapGeom(_0: MjsTendon, _1: string, _2: string): MjsWrap | undefined;
+  mjs_wrapSite(_0: MjsTendon, _1: string): MjsWrap | undefined;
+  mj_Euler(_0: MjModel, _1: MjData): void;
+  mj_camlight(_0: MjModel, _1: MjData): void;
+  mj_checkAcc(_0: MjModel, _1: MjData): void;
+  mj_checkPos(_0: MjModel, _1: MjData): void;
+  mj_checkVel(_0: MjModel, _1: MjData): void;
+  mj_collision(_0: MjModel, _1: MjData): void;
+  mj_comPos(_0: MjModel, _1: MjData): void;
+  mj_comVel(_0: MjModel, _1: MjData): void;
+  mj_compareFwdInv(_0: MjModel, _1: MjData): void;
+  mj_crb(_0: MjModel, _1: MjData): void;
+  mj_defaultLROpt(_0: MjLROpt): void;
+  mj_defaultOption(_0: MjOption): void;
+  mj_defaultVisual(_0: MjVisual): void;
+  mj_energyPos(_0: MjModel, _1: MjData): void;
+  mj_energyVel(_0: MjModel, _1: MjData): void;
+  mj_factorM(_0: MjModel, _1: MjData): void;
+  mj_flex(_0: MjModel, _1: MjData): void;
+  mj_forward(_0: MjModel, _1: MjData): void;
+  mj_fwdAcceleration(_0: MjModel, _1: MjData): void;
+  mj_fwdActuation(_0: MjModel, _1: MjData): void;
+  mj_fwdConstraint(_0: MjModel, _1: MjData): void;
+  mj_fwdKinematics(_0: MjModel, _1: MjData): void;
+  mj_fwdPosition(_0: MjModel, _1: MjData): void;
+  mj_fwdVelocity(_0: MjModel, _1: MjData): void;
+  mj_implicit(_0: MjModel, _1: MjData): void;
+  mj_invConstraint(_0: MjModel, _1: MjData): void;
+  mj_invPosition(_0: MjModel, _1: MjData): void;
+  mj_invVelocity(_0: MjModel, _1: MjData): void;
+  mj_inverse(_0: MjModel, _1: MjData): void;
+  mj_island(_0: MjModel, _1: MjData): void;
+  mj_kinematics(_0: MjModel, _1: MjData): void;
+  mj_makeConstraint(_0: MjModel, _1: MjData): void;
+  mj_makeM(_0: MjModel, _1: MjData): void;
+  mj_passive(_0: MjModel, _1: MjData): void;
+  mj_printData(_0: MjModel, _1: MjData, _2: string): void;
+  mj_printFormattedData(_0: MjModel, _1: MjData, _2: string, _3: string): void;
+  mj_printFormattedModel(_0: MjModel, _1: string, _2: string): void;
+  mj_printFormattedScene(_0: MjvScene, _1: string, _2: string): void;
+  mj_printModel(_0: MjModel, _1: string): void;
+  mj_printScene(_0: MjvScene, _1: string): void;
+  mj_projectConstraint(_0: MjModel, _1: MjData): void;
+  mj_referenceConstraint(_0: MjModel, _1: MjData): void;
+  mj_resetCallbacks(): void;
+  mj_resetData(_0: MjModel, _1: MjData): void;
+  mj_rnePostConstraint(_0: MjModel, _1: MjData): void;
+  mj_sensorAcc(_0: MjModel, _1: MjData): void;
+  mj_sensorPos(_0: MjModel, _1: MjData): void;
+  mj_sensorVel(_0: MjModel, _1: MjData): void;
+  mj_setConst(_0: MjModel, _1: MjData): void;
+  mj_step(_0: MjModel, _1: MjData): void;
+  mj_step1(_0: MjModel, _1: MjData): void;
+  mj_step2(_0: MjModel, _1: MjData): void;
+  mj_subtreeVel(_0: MjModel, _1: MjData): void;
+  mj_tendon(_0: MjModel, _1: MjData): void;
+  mj_transmission(_0: MjModel, _1: MjData): void;
+  mjs_defaultActuator(_0: MjsActuator): void;
+  mjs_defaultBody(_0: MjsBody): void;
+  mjs_defaultCamera(_0: MjsCamera): void;
+  mjs_defaultEquality(_0: MjsEquality): void;
+  mjs_defaultFlex(_0: MjsFlex): void;
+  mjs_defaultFrame(_0: MjsFrame): void;
+  mjs_defaultGeom(_0: MjsGeom): void;
+  mjs_defaultHField(_0: MjsHField): void;
+  mjs_defaultJoint(_0: MjsJoint): void;
+  mjs_defaultKey(_0: MjsKey): void;
+  mjs_defaultLight(_0: MjsLight): void;
+  mjs_defaultMaterial(_0: MjsMaterial): void;
+  mjs_defaultMesh(_0: MjsMesh): void;
+  mjs_defaultNumeric(_0: MjsNumeric): void;
+  mjs_defaultOrientation(_0: MjsOrientation): void;
+  mjs_defaultPair(_0: MjsPair): void;
+  mjs_defaultPlugin(_0: MjsPlugin): void;
+  mjs_defaultSensor(_0: MjsSensor): void;
+  mjs_defaultSite(_0: MjsSite): void;
+  mjs_defaultSkin(_0: MjsSkin): void;
+  mjs_defaultSpec(_0: MjSpec): void;
+  mjs_defaultTendon(_0: MjsTendon): void;
+  mjs_defaultText(_0: MjsText): void;
+  mjs_defaultTexture(_0: MjsTexture): void;
+  mjs_defaultTuple(_0: MjsTuple): void;
+  mjs_deleteUserValue(_0: MjsElement, _1: string): void;
+  mjs_setDefault(_0: MjsElement, _1: MjsDefault): void;
+  mju_printMatSparse(_0: number[], _1: number[], _2: number[], _3: number[]): void;
+  mju_writeLog(_0: string, _1: string): void;
+  mjv_applyPerturbForce(_0: MjModel, _1: MjData, _2: MjvPerturb): void;
+  mjv_defaultCamera(_0: MjvCamera): void;
+  mjv_defaultFigure(_0: MjvFigure): void;
+  mjv_defaultFreeCamera(_0: MjModel, _1: MjvCamera): void;
+  mjv_defaultOption(_0: MjvOption): void;
+  mjv_defaultPerturb(_0: MjvPerturb): void;
+  mjv_initPerturb(_0: MjModel, _1: MjData, _2: MjvScene, _3: MjvPerturb): void;
+  mjv_makeLights(_0: MjModel, _1: MjData, _2: MjvScene): void;
+  mjv_updateCamera(_0: MjModel, _1: MjData, _2: MjvCamera, _3: MjvScene): void;
+  mjv_updateSkin(_0: MjModel, _1: MjData, _2: MjvScene): void;
+  error(_0: string): void;
+  mj_resetDataDebug(_0: MjModel, _1: MjData, _2: number): void;
+  mj_RungeKutta(_0: MjModel, _1: MjData, _2: number): void;
+  mj_addContact(_0: MjModel, _1: MjData, _2: MjContact): number;
+  mj_copyBack(_0: MjSpec, _1: MjModel): number;
+  mj_copyState(_0: MjModel, _1: MjData, _2: MjData, _3: number): void;
+  mj_forwardSkip(_0: MjModel, _1: MjData, _2: number, _3: number): void;
+  mj_initCtrlHistory(_0: MjModel, _1: MjData, _2: number, _3: number[], _4: number[]): void;
+  mj_inverseSkip(_0: MjModel, _1: MjData, _2: number, _3: number): void;
+  mj_isDual(_0: MjModel): number;
+  mj_isPyramidal(_0: MjModel): number;
+  mj_isSparse(_0: MjModel): number;
+  mj_name2id(_0: MjModel, _1: number, _2: string): number;
+  mj_resetDataKeyframe(_0: MjModel, _1: MjData, _2: number): void;
+  mj_setKeyframe(_0: MjModel, _1: MjData, _2: number): void;
+  mj_setState(_0: MjModel, _1: MjData, _2: number[], _3: number): void;
+  mj_stateSize(_0: MjModel, _1: number): number;
+  mj_version(): number;
+  mjs_activatePlugin(_0: MjSpec, _1: string): number;
+  mjs_delete(_0: MjSpec, _1: MjsElement): number;
+  mjs_firstChild(_0: MjsBody, _1: mjtObj, _2: number): MjsElement | undefined;
+  mjs_getId(_0: MjsElement): number;
+  mjs_getWrap(_0: MjsTendon, _1: number): MjsWrap | undefined;
+  mjs_getWrapNum(_0: MjsTendon): number;
+  mjs_isWarning(_0: MjSpec): number;
+  mjs_nextChild(_0: MjsBody, _1: MjsElement, _2: number): MjsElement | undefined;
+  mjs_sensorDim(_0: MjsSensor): number;
+  mjs_setDeepCopy(_0: MjSpec, _1: number): number;
+  mjs_setFrame(_0: MjsElement, _1: MjsFrame): number;
+  mjs_setName(_0: MjsElement, _1: string): number;
+  mju_bandDiag(_0: number, _1: number, _2: number, _3: number): number;
+  mju_isZero(_0: number[], _1: number): number;
+  mju_printMat(_0: number[], _1: number, _2: number): void;
+  mju_str2Type(_0: string): number;
+  mjv_addGeoms(_0: MjModel, _1: MjData, _2: MjvOption, _3: MjvPerturb, _4: number, _5: MjvScene): void;
+  mjv_applyPerturbPose(_0: MjModel, _1: MjData, _2: MjvPerturb, _3: number): void;
+  mjv_initGeom(_0: MjvGeom, _1: number, _2: number[], _3: number[], _4: number[], _5: number[]): void;
+  mjv_updateScene(_0: MjModel, _1: MjData, _2: MjvOption, _3: MjvPerturb, _4: MjvCamera, _5: number, _6: MjvScene): void;
+  mj_saveLastXML(_0: string, _1: MjModel): number;
+  mj_setLengthRange(_0: MjModel, _1: MjData, _2: number, _3: MjLROpt): number;
+  mjMAXCONPAIR: number;
+  mjMAXLIGHT: number;
+  mjMAXLINE: number;
+  mjMAXLINEPNT: number;
+  mjMAXOVERLAY: number;
+  mjMAXPLANEGRID: number;
+  mjNBIAS: number;
+  mjNDYN: number;
+  mjNEQDATA: number;
+  mjNGAIN: number;
+  mjNGROUP: number;
+  mjNIMP: number;
+  mjNREF: number;
+  mjNSOLVER: number;
+  mjVERSION_HEADER: number;
+  mj_sizeModel(_0: MjModel): bigint;
+  mj_getTotalmass(_0: MjModel): number;
+  mj_initSensorHistory(_0: MjModel, _1: MjData, _2: number, _3: number[], _4: number[], _5: number): void;
+  mj_readCtrl(_0: MjModel, _1: MjData, _2: number, _3: number, _4: number): number;
+  mj_setTotalmass(_0: MjModel, _1: number): void;
+  mjs_getWrapCoef(_0: MjsWrap): number;
+  mjs_getWrapDivisor(_0: MjsWrap): number;
+  mjs_wrapJoint(_0: MjsTendon, _1: string, _2: number): MjsWrap | undefined;
+  mjs_wrapPulley(_0: MjsTendon, _1: number): MjsWrap | undefined;
+  mju_Halton(_0: number, _1: number): number;
+  mju_L1(_0: number[], _1: number): number;
+  mju_clip(_0: number, _1: number, _2: number): number;
+  mju_dist3(_0: number[], _1: number[]): number;
+  mju_dot(_0: number[], _1: number[]): number;
+  mju_dot3(_0: number[], _1: number[]): number;
+  mju_isBad(_0: number): number;
+  mju_max(_0: number, _1: number): number;
+  mju_min(_0: number, _1: number): number;
+  mju_mulVecMatVec(_0: number[], _1: number[], _2: number[]): number;
+  mju_muscleBias(_0: number, _1: number[], _2: number, _3: number[]): number;
+  mju_muscleDynamics(_0: number, _1: number, _2: number[]): number;
+  mju_muscleGain(_0: number, _1: number, _2: number[], _3: number, _4: number[]): number;
+  mju_norm(_0: number[], _1: number): number;
+  mju_norm3(_0: number[]): number;
+  mju_round(_0: number): number;
+  mju_sigmoid(_0: number): number;
+  mju_sign(_0: number): number;
+  mju_springDamper(_0: number, _1: number, _2: number, _3: number, _4: number): number;
+  mju_sum(_0: number[], _1: number): number;
+  mjv_connector(_0: MjvGeom, _1: number, _2: number, _3: number[], _4: number[]): void;
+  mjv_frustumHeight(_0: MjvScene): number;
+  mjv_moveCamera(_0: MjModel, _1: number, _2: number, _3: number, _4: MjvScene, _5: MjvCamera): void;
+  mjv_moveModel(_0: MjModel, _1: number, _2: number, _3: number, _4: number[], _5: MjvScene): void;
+  mjv_movePerturb(_0: MjModel, _1: MjData, _2: number, _3: number, _4: number, _5: MjvScene, _6: MjvPerturb): void;
+  mjMAXIMP: number;
+  mjMAXVAL: number;
+  mjMINIMP: number;
+  mjMINMU: number;
+  mjMINVAL: number;
+  mjPI: number;
+  mj_id2name(_0: MjModel, _1: number, _2: number): string;
+  mj_versionString(): string;
+  mjs_getError(_0: MjSpec): string;
+  mjs_getName(_0: MjsElement): string;
+  mjs_setToAdhesion(_0: MjsActuator, _1: number): string;
+  mjs_setToCylinder(_0: MjsActuator, _1: number, _2: number, _3: number, _4: number): string;
+  mjs_setToDamper(_0: MjsActuator, _1: number): string;
+  mjs_setToMotor(_0: MjsActuator): string;
+  mjs_setToVelocity(_0: MjsActuator, _1: number): string;
+  mju_type2Str(_0: number): string;
+  mju_warningText(_0: number, _1: number): string;
+  mju_writeNumBytes(_0: number): string;
+  parseXMLString(_0: EmbindString): MjSpec;
+  mj_addM(_0: MjModel, _1: MjData, _2: any, _3: any, _4: any, _5: any): void;
+  mj_angmomMat(_0: MjModel, _1: MjData, _2: any, _3: number): void;
+  mj_applyFT(_0: MjModel, _1: MjData, _2: number[], _3: number[], _4: number[], _5: number, _6: any): void;
+  mj_constraintUpdate(_0: MjModel, _1: MjData, _2: number[], _3: any, _4: number): void;
+  mj_contactForce(_0: MjModel, _1: MjData, _2: number, _3: any): void;
+  mj_defaultSolRefImp(_0: any, _1: any): void;
+  mj_differentiatePos(_0: MjModel, _1: any, _2: number, _3: number[], _4: number[]): void;
+  mj_extractState(_0: MjModel, _1: number[], _2: number, _3: any, _4: number): void;
+  mj_fullM(_0: MjModel, _1: any, _2: number[]): void;
+  mj_geomDistance(_0: MjModel, _1: MjData, _2: number, _3: number, _4: number, _5: any): number;
+  mj_getState(_0: MjModel, _1: MjData, _2: any, _3: number): void;
+  mj_integratePos(_0: MjModel, _1: any, _2: number[], _3: number): void;
+  mj_jac(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number[], _5: number): void;
+  mj_jacBody(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number): void;
+  mj_jacBodyCom(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number): void;
+  mj_jacDot(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number[], _5: number): void;
+  mj_jacGeom(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number): void;
+  mj_jacPointAxis(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number[], _5: number[], _6: number): void;
+  mj_jacSite(_0: MjModel, _1: MjData, _2: any, _3: any, _4: number): void;
+  mj_jacSubtreeCom(_0: MjModel, _1: MjData, _2: any, _3: number): void;
+  mj_local2Global(_0: MjData, _1: any, _2: any, _3: number[], _4: number[], _5: number, _6: number): void;
+  mj_mulJacTVec(_0: MjModel, _1: MjData, _2: any, _3: number[]): void;
+  mj_mulJacVec(_0: MjModel, _1: MjData, _2: any, _3: number[]): void;
+  mj_mulM(_0: MjModel, _1: MjData, _2: any, _3: number[]): void;
+  mj_mulM2(_0: MjModel, _1: MjData, _2: any, _3: number[]): void;
+  mj_multiRay(_0: MjModel, _1: MjData, _2: number[], _3: number[], _4: number[], _5: number, _6: number, _7: any, _8: any, _9: any, _10: number, _11: number): void;
+  mj_normalizeQuat(_0: MjModel, _1: any): void;
+  mj_objectAcceleration(_0: MjModel, _1: MjData, _2: number, _3: number, _4: any, _5: number): void;
+  mj_objectVelocity(_0: MjModel, _1: MjData, _2: number, _3: number, _4: any, _5: number): void;
+  mj_ray(_0: MjModel, _1: MjData, _2: number[], _3: number[], _4: number[], _5: number, _6: number, _7: any, _8: any): number;
+  mj_rayFlex(_0: MjModel, _1: MjData, _2: number, _3: number, _4: number, _5: number, _6: number, _7: number, _8: number[], _9: number[], _10: any, _11: any): number;
+  mj_rayHfield(_0: MjModel, _1: MjData, _2: number, _3: number[], _4: number[], _5: any): number;
+  mj_rayMesh(_0: MjModel, _1: MjData, _2: number, _3: number[], _4: number[], _5: any): number;
+  mj_rne(_0: MjModel, _1: MjData, _2: number, _3: any): void;
+  mj_solveM(_0: MjModel, _1: MjData, _2: any, _3: number[]): void;
+  mj_solveM2(_0: MjModel, _1: MjData, _2: any, _3: number[], _4: number[]): void;
+  mjd_inverseFD(_0: MjModel, _1: MjData, _2: number, _3: number, _4: any, _5: any, _6: any, _7: any, _8: any, _9: any, _10: any): void;
+  mjd_quatIntegrate(_0: number[], _1: number, _2: any, _3: any, _4: any): void;
+  mjd_subQuat(_0: number[], _1: number[], _2: any, _3: any): void;
+  mjd_transitionFD(_0: MjModel, _1: MjData, _2: number, _3: number, _4: any, _5: any, _6: any, _7: any): void;
+  mjs_makeMesh(_0: MjsMesh, _1: mjtMeshBuiltin, _2: any, _3: number): number;
+  mjs_resolveOrientation(_0: any, _1: number, _2: string, _3: MjsOrientation): string;
+  mjs_setToIntVelocity(_0: MjsActuator, _1: number, _2: any, _3: any, _4: any, _5: number): string;
+  mjs_setToMuscle(_0: MjsActuator, _1: any, _2: number, _3: any, _4: number, _5: number, _6: number, _7: number, _8: number, _9: number, _10: number): string;
+  mjs_setToPosition(_0: MjsActuator, _1: number, _2: any, _3: any, _4: any, _5: number): string;
+  mju_add(_0: any, _1: number[], _2: number[]): void;
+  mju_add3(_0: any, _1: number[], _2: number[]): void;
+  mju_addScl(_0: any, _1: number[], _2: number[], _3: number): void;
+  mju_addScl3(_0: any, _1: number[], _2: number[], _3: number): void;
+  mju_addTo(_0: any, _1: number[]): void;
+  mju_addTo3(_0: any, _1: number[]): void;
+  mju_addToScl(_0: any, _1: number[], _2: number): void;
+  mju_addToScl3(_0: any, _1: number[], _2: number): void;
+  mju_axisAngle2Quat(_0: any, _1: number[], _2: number): void;
+  mju_band2Dense(_0: any, _1: number[], _2: number, _3: number, _4: number, _5: number): void;
+  mju_bandMulMatVec(_0: any, _1: number[], _2: number[], _3: number, _4: number, _5: number, _6: number, _7: number): void;
+  mju_boxQP(_0: any, _1: any, _2: any, _3: number[], _4: number[], _5: number[], _6: number[]): number;
+  mju_cholFactor(_0: any, _1: number): number;
+  mju_cholFactorBand(_0: any, _1: number, _2: number, _3: number, _4: number, _5: number): number;
+  mju_cholSolve(_0: any, _1: number[], _2: number[]): void;
+  mju_cholSolveBand(_0: any, _1: number[], _2: number[], _3: number, _4: number, _5: number): void;
+  mju_cholUpdate(_0: any, _1: any, _2: number): number;
+  mju_copy(_0: any, _1: number[]): void;
+  mju_copy3(_0: any, _1: number[]): void;
+  mju_copy4(_0: any, _1: number[]): void;
+  mju_cross(_0: any, _1: number[], _2: number[]): void;
+  mju_d2n(_0: any, _1: number[]): void;
+  mju_decodePyramid(_0: any, _1: number[], _2: number[]): void;
+  mju_dense2Band(_0: any, _1: number[], _2: number, _3: number, _4: number): void;
+  mju_dense2sparse(_0: any, _1: number[], _2: number, _3: number, _4: any, _5: any, _6: any): number;
+  mju_derivQuat(_0: any, _1: number[], _2: number[]): void;
+  mju_eig3(_0: any, _1: any, _2: any, _3: number[]): number;
+  mju_encodePyramid(_0: any, _1: number[], _2: number[]): void;
+  mju_euler2Quat(_0: any, _1: number[], _2: string): void;
+  mju_eye(_0: any): void;
+  mju_f2n(_0: any, _1: number[]): void;
+  mju_fill(_0: any, _1: number): void;
+  mju_insertionSort(_0: any): void;
+  mju_insertionSortInt(_0: any): void;
+  mju_mat2Quat(_0: any, _1: number[]): void;
+  mju_mat2Rot(_0: any, _1: number[]): number;
+  mju_mulMatMat(_0: any, _1: number[], _2: number[], _3: number, _4: number, _5: number): void;
+  mju_mulMatMatT(_0: any, _1: number[], _2: number[], _3: number, _4: number, _5: number): void;
+  mju_mulMatTMat(_0: any, _1: number[], _2: number[], _3: number, _4: number, _5: number): void;
+  mju_mulMatTVec(_0: any, _1: number[], _2: number[], _3: number, _4: number): void;
+  mju_mulMatTVec3(_0: any, _1: number[], _2: number[]): void;
+  mju_mulMatVec(_0: any, _1: number[], _2: number[], _3: number, _4: number): void;
+  mju_mulMatVec3(_0: any, _1: number[], _2: number[]): void;
+  mju_mulPose(_0: any, _1: any, _2: number[], _3: number[], _4: number[], _5: number[]): void;
+  mju_mulQuat(_0: any, _1: number[], _2: number[]): void;
+  mju_mulQuatAxis(_0: any, _1: number[], _2: number[]): void;
+  mju_n2d(_0: any, _1: number[]): void;
+  mju_n2f(_0: any, _1: number[]): void;
+  mju_negPose(_0: any, _1: any, _2: number[], _3: number[]): void;
+  mju_negQuat(_0: any, _1: number[]): void;
+  mju_normalize(_0: any, _1: number): number;
+  mju_normalize3(_0: any): number;
+  mju_normalize4(_0: any): number;
+  mju_quat2Mat(_0: any, _1: number[]): void;
+  mju_quat2Vel(_0: any, _1: number[], _2: number): void;
+  mju_quatIntegrate(_0: any, _1: number[], _2: number): void;
+  mju_quatZ2Vec(_0: any, _1: number[]): void;
+  mju_rayGeom(_0: number[], _1: number[], _2: number[], _3: number[], _4: number[], _5: number, _6: any): number;
+  mju_raySkin(_0: number, _1: number, _2: number[], _3: number[], _4: number[], _5: number[], _6: any): number;
+  mju_rotVecQuat(_0: any, _1: number[], _2: number[]): void;
+  mju_scl(_0: any, _1: number[], _2: number): void;
+  mju_scl3(_0: any, _1: number[], _2: number): void;
+  mju_sparse2dense(_0: any, _1: number[], _2: number, _3: number, _4: number[], _5: number[], _6: number[]): void;
+  mju_sqrMatTD(_0: any, _1: number[], _2: number[], _3: number, _4: number): void;
+  mju_standardNormal(_0: any): number;
+  mju_sub(_0: any, _1: number[], _2: number[]): void;
+  mju_sub3(_0: any, _1: number[], _2: number[]): void;
+  mju_subFrom(_0: any, _1: number[]): void;
+  mju_subFrom3(_0: any, _1: number[]): void;
+  mju_subQuat(_0: any, _1: number[], _2: number[]): void;
+  mju_symmetrize(_0: any, _1: number[], _2: number): void;
+  mju_transformSpatial(_0: any, _1: number[], _2: number, _3: number[], _4: number[], _5: number[]): void;
+  mju_transpose(_0: any, _1: number[], _2: number, _3: number): void;
+  mju_trnVecPose(_0: any, _1: number[], _2: number[], _3: number[]): void;
+  mju_unit4(_0: any): void;
+  mju_zero(_0: any, _1: number): void;
+  mju_zero3(_0: any): void;
+  mju_zero4(_0: any): void;
+  mjv_alignToCamera(_0: any, _1: number[], _2: number[]): void;
+  mjv_cameraFrame(_0: any, _1: any, _2: any, _3: any, _4: MjData, _5: MjvCamera): void;
+  mjv_cameraFrustum(_0: any, _1: any, _2: any, _3: MjModel, _4: MjvCamera): void;
+  mjv_cameraInModel(_0: any, _1: any, _2: any, _3: MjvScene): void;
+  mjv_cameraInRoom(_0: any, _1: any, _2: any, _3: MjvScene): void;
+  mjv_model2room(_0: any, _1: any, _2: number[], _3: number[], _4: MjvScene): void;
+  mjv_room2model(_0: any, _1: any, _2: number[], _3: number[], _4: MjvScene): void;
+  mjv_select(_0: MjModel, _1: MjData, _2: MjvOption, _3: number, _4: number, _5: number, _6: MjvScene, _7: any, _8: any, _9: any, _10: any): number;
+  mj_saveModel(_0: MjModel, _1: string|null, _2: any): void;
+  get_mjDISABLESTRING(): any;
+  get_mjENABLESTRING(): any;
+  get_mjFRAMESTRING(): any;
+  get_mjLABELSTRING(): any;
+  get_mjRNDSTRING(): any;
+  get_mjTIMERSTRING(): any;
+  get_mjVISSTRING(): any;
+}
+
+export type MainModule = WasmModule & typeof RuntimeExports & EmbindModule;
+export default function MainModuleFactory (options?: unknown): Promise<MainModule>;