simscope 0.1.1__py3-none-any.whl

simscope/_assets/simscope-web.LICENSES.txt

@@ -0,0 +1,407 @@
+simscope's browser bundles include the following third-party software.
+
+@fontsource-variable/geist 5.3.0 (OFL-1.1)
+
+Copyright 2024 The Geist Project Authors (https://github.com/vercel/geist-font) Geist-Italic[wght].ttf: Copyright 2024 The Geist Project Authors (https://github.com/vercel/geist-font)
+
+This Font Software is licensed under the SIL Open Font License, Version 1.1.
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+
+===========================================================
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+===========================================================
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font creation
+efforts of academic and linguistic communities, and to provide a free and
+open framework in which fonts may be shared and improved in partnership
+with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply
+to any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software components as
+distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to, deleting,
+or substituting == in part or in whole == any of the components of the
+Original Version, by changing formats or by porting the Font Software to a
+new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed, modify,
+redistribute, and sell modified and unmodified copies of the Font
+Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components,
+in Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the corresponding
+Copyright Holder. This restriction only applies to the primary font name as
+presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created
+using the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
+
+========================================================================
+
+@tanstack/react-virtual 3.14.13 (MIT)
+
+MIT License
+
+Copyright (c) 2021-present Tanner Linsley
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+camera-controls 3.1.2 (MIT)
+
+MIT License
+
+Copyright (c) 2017 @yomotsu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+lucide-react 1.49.0 (ISC)
+
+ISC License
+
+Copyright (c) 2026 Lucide Icons and Contributors
+
+Permission to use, copy, modify, and/or distribute this software for any
+purpose with or without fee is hereby granted, provided that the above
+copyright notice and this permission notice appear in all copies.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+===
+
+The following Lucide icons are derived from the Feather project:
+
+airplay, alert-circle, alert-octagon, alert-triangle, aperture, arrow-down-circle, arrow-down-left, arrow-down-right, arrow-down, arrow-left-circle, arrow-left, arrow-right-circle, arrow-right, arrow-up-circle, arrow-up-left, arrow-up-right, arrow-up, at-sign, calendar, cast, check, chevron-down, chevron-left, chevron-right, chevron-up, chevrons-down, chevrons-left, chevrons-right, chevrons-up, circle, clipboard, clock, code, columns, command, compass, corner-down-left, corner-down-right, corner-left-down, corner-left-up, corner-right-down, corner-right-up, corner-up-left, corner-up-right, crosshair, database, divide-circle, divide-square, dollar-sign, download, external-link, feather, frown, hash, headphones, help-circle, info, italic, key, layout, life-buoy, link-2, link, loader, lock, log-in, log-out, maximize, meh, minimize, minimize-2, minus-circle, minus-square, minus, monitor, moon, more-horizontal, more-vertical, move, music, navigation-2, navigation, octagon, pause-circle, percent, plus-circle, plus-square, plus, power, radio, rss, search, server, share, shopping-bag, sidebar, smartphone, smile, square, table-2, tablet, target, terminal, trash-2, trash, triangle, tv, type, upload, x-circle, x-octagon, x-square, x, zoom-in, zoom-out
+
+The MIT License (MIT) (for the icons listed above)
+
+Copyright (c) 2013-present Cole Bemis
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+radix-ui 1.6.7 (MIT)
+
+MIT License
+
+Copyright (c) 2022 WorkOS
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+react 19.3.0 (MIT)
+
+MIT License
+
+Copyright (c) Meta Platforms, Inc. and affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+react-dom 19.3.0 (MIT)
+
+MIT License
+
+Copyright (c) Meta Platforms, Inc. and affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+react-resizable-panels 4.14.1 (MIT)
+
+The MIT License (MIT)
+
+Copyright (c) 2018 Brian Vaughn
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+three 0.186.1 (MIT)
+
+The MIT License
+
+Copyright © 2010-2026 three.js authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+========================================================================
+
+uplot 1.6.32 (MIT)
+
+The MIT License (MIT)
+
+Copyright (c) 2022 Leon Sorokin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+========================================================================
+
+zustand 5.0.15 (MIT)
+
+MIT License
+
+Copyright (c) 2019 Paul Henschel
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================
+
+tailwindcss 4.3.3 (MIT)
+
+MIT License
+
+Copyright (c) Tailwind Labs, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+========================================================================

simscope/_icon.py

@@ -0,0 +1,22 @@
+"""The tab icon: the viewer's magnifying-glass mark on a dark tile."""
+
+import base64
+
+_SVG = (
+    '<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24">'
+    '<rect width="24" height="24" rx="5" fill="#171717"/>'
+    '<g fill="none" stroke="#fafafa" stroke-linecap="round"'
+    ' stroke-linejoin="round">'
+    '<circle cx="10.5" cy="10.5" r="6.25" stroke-width="2"/>'
+    '<path d="M15.2 15.2 20.5 20.5" stroke-width="2.4"/>'
+    '<path d="M7 11.4c.9 0 1.1-2.6 2-2.6s1.1 3.4 2 3.4'
+    ' 1.1-4.2 2-4.2.9 3 1.5 3"'
+    ' stroke-width="1.1"/></g></svg>'
+)
+
+ICON_LINK = (
+    '<link rel="icon" type="image/svg+xml" href="data:image/svg+xml;base64,'
+    + base64.b64encode(_SVG.encode()).decode()
+    + '">'
+)
+"""A ``<link>`` for the page head; a data URI, so it adds no request."""

simscope/_mjviser.py

@@ -0,0 +1,203 @@
+"""MuJoCo model-to-geometry helpers adapted from mjviser.
+
+This module is adapted from ``mjviser/conversions.py`` in mjviser
+(https://github.com/mujocolab/mjviser), which is licensed under the Apache
+License, Version 2.0. The upstream copyright notice reads "Copyright 2025,
+The mjlab Developers". Upstream commit:
+``ae0b219a2049a95e1321214e4efd1d395ee4bf39``. The license text and this
+attribution are reproduced in ``THIRD_PARTY_NOTICES.md``.
+
+Changes made to the upstream code (Apache-2.0 section 4(b)): the trimesh and
+Pillow outputs were replaced by plain numpy arrays; mesh unwrapping now
+shares vertices with identical position and texture coordinate; the
+heightfield address uses ``hfield_adr`` instead of a Python loop; texture
+extraction returns pixel arrays; the cube-map, hull, site, and merging
+helpers, and everything that touches the viewer, were dropped; the color rule
+was checked against ``mjv_updateScene``.
+
+Texture coordinate convention (kept from upstream): ``uvs`` follow OpenGL,
+so ``(0, 0)`` is the bottom-left of the image as displayed. Pixel arrays
+returned here are flipped to top-down row order to match, which is how PNG
+and three.js (``flipY = true``) expect them.
+"""
+
+import mujoco
+import numpy as np
+import numpy.typing as npt
+
+DEFAULT_GEOM_RGBA = np.array([0.5, 0.5, 0.5, 1.0], dtype=np.float32)
+"""MuJoCo's default ``geom/@rgba``. A geom that still has it defers to its
+material color."""
+
+
+def texture_id(model: mujoco.MjModel, matid: int) -> int:
+    """Returns the color texture id of a material.
+
+    Args:
+        model: The compiled model.
+        matid: Material id, or a negative value for "no material".
+
+    Returns:
+        The id of the RGB texture, else of the RGBA texture, else ``-1``.
+    """
+    if matid < 0 or matid >= model.nmat:
+        return -1
+    for role in (
+        mujoco.mjtTextureRole.mjTEXROLE_RGB,
+        mujoco.mjtTextureRole.mjTEXROLE_RGBA,
+    ):
+        texid = int(model.mat_texid[matid, int(role)])
+        if texid >= 0:
+            return texid
+    return -1
+
+
+def texture_pixels(
+    model: mujoco.MjModel, texid: int
+) -> npt.NDArray[np.uint8] | None:
+    """Extracts a 2D texture as top-down 8-bit RGB or RGBA pixels.
+
+    MuJoCo stores rows bottom-up, so the rows are flipped, as in mjviser.
+    Single-channel textures are expanded to RGB. Cube maps, skyboxes, and
+    other channel counts are not supported.
+
+    Args:
+        model: The compiled model.
+        texid: Texture id.
+
+    Returns:
+        A ``[H, W, 3]`` or ``[H, W, 4]`` uint8 array, or ``None`` if the
+        texture is not a supported 2D texture.
+    """
+    if int(model.tex_type[texid]) != int(mujoco.mjtTexture.mjTEXTURE_2D):
+        return None
+    width = int(model.tex_width[texid])
+    height = int(model.tex_height[texid])
+    nchannel = int(model.tex_nchannel[texid])
+    if nchannel not in (1, 3, 4) or width < 1 or height < 1:
+        return None
+    adr = int(model.tex_adr[texid])
+    data = model.tex_data[adr : adr + width * height * nchannel]
+    pixels = np.flipud(data.reshape(height, width, nchannel))
+    if nchannel == 1:
+        pixels = np.repeat(pixels, 3, axis=2)
+    return np.ascontiguousarray(pixels, dtype=np.uint8)
+
+
+def effective_geom_rgba(model: mujoco.MjModel) -> npt.NDArray[np.float32]:
+    """Resolves the displayed color of every geom.
+
+    Follows MuJoCo's own rule (verified against ``mjv_updateScene``): a geom
+    uses its material color only when it has a material and its own
+    ``rgba`` is still the default; otherwise ``geom_rgba`` wins. Upstream
+    mjviser prefers the material color unconditionally.
+
+    Args:
+        model: The compiled model.
+
+    Returns:
+        A new ``[ngeom, 4]`` float32 array.
+    """
+    rgba = model.geom_rgba.astype(np.float32, copy=True)
+    matid = model.geom_matid
+    defer = (matid >= 0) & np.all(rgba == DEFAULT_GEOM_RGBA, axis=1)
+    rgba[defer] = model.mat_rgba[matid[defer]]
+    return rgba
+
+
+def mesh_arrays(
+    model: mujoco.MjModel, mesh_id: int, *, with_uvs: bool
+) -> tuple[
+    npt.NDArray[np.float32],
+    npt.NDArray[np.uint32],
+    npt.NDArray[np.float32] | None,
+]:
+    """Extracts a mesh asset in the frame MuJoCo stores it in.
+
+    ``mesh_vert`` is already recentered and scaled by the compiler, and
+    ``geom_pos``/``geom_quat`` of geoms using the mesh compensate for that.
+    So the returned vertices need only the geom's own pose.
+
+    When ``with_uvs`` is set and the mesh has texture coordinates, vertices
+    are split so each unique (position, texcoord) pair becomes one vertex.
+
+    Args:
+        model: The compiled model.
+        mesh_id: Mesh asset id.
+        with_uvs: Whether to also return texture coordinates.
+
+    Returns:
+        ``(vertices, faces, uvs)`` with shapes ``[V, 3]``, ``[F, 3]`` and
+        ``[V, 2]``; ``uvs`` is ``None`` when unused or unavailable.
+    """
+    vert_adr = int(model.mesh_vertadr[mesh_id])
+    vert_num = int(model.mesh_vertnum[mesh_id])
+    face_adr = int(model.mesh_faceadr[mesh_id])
+    face_num = int(model.mesh_facenum[mesh_id])
+    vertices = model.mesh_vert[vert_adr : vert_adr + vert_num]
+    faces = model.mesh_face[face_adr : face_adr + face_num]
+
+    texcoord_num = int(model.mesh_texcoordnum[mesh_id])
+    if not with_uvs or texcoord_num == 0:
+        return (
+            vertices.astype(np.float32, copy=True),
+            faces.astype(np.uint32),
+            None,
+        )
+
+    texcoord_adr = int(model.mesh_texcoordadr[mesh_id])
+    texcoords = model.mesh_texcoord[texcoord_adr : texcoord_adr + texcoord_num]
+    face_texcoord = model.mesh_facetexcoord[face_adr : face_adr + face_num]
+    pair = faces.ravel().astype(np.int64) * texcoord_num + face_texcoord.ravel()
+    unique_pair, inverse = np.unique(pair, return_inverse=True)
+    return (
+        vertices[unique_pair // texcoord_num].astype(np.float32),
+        inverse.reshape(-1, 3).astype(np.uint32),
+        texcoords[unique_pair % texcoord_num].astype(np.float32),
+    )
+
+
+def hfield_arrays(
+    model: mujoco.MjModel, hfield_id: int, *, with_uvs: bool
+) -> tuple[
+    npt.NDArray[np.float32],
+    npt.NDArray[np.uint32],
+    npt.NDArray[np.float32] | None,
+]:
+    """Tessellates a height field in the geom frame.
+
+    Grid vertex ``(row, col)`` sits at ``x = -sx + 2 sx col / (ncol - 1)``,
+    ``y = -sy + 2 sy row / (nrow - 1)`` and ``z = elevation * sz``. The
+    base skirt below the field is not generated. Triangles wind
+    counter-clockwise seen from +z.
+
+    Args:
+        model: The compiled model.
+        hfield_id: Height field asset id.
+        with_uvs: Whether to also return grid texture coordinates.
+
+    Returns:
+        ``(vertices, faces, uvs)`` with shapes ``[nrow*ncol, 3]``,
+        ``[F, 3]`` and ``[nrow*ncol, 2]``; ``uvs`` is ``None`` unless
+        ``with_uvs``.
+    """
+    nrow = int(model.hfield_nrow[hfield_id])
+    ncol = int(model.hfield_ncol[hfield_id])
+    sx, sy, sz, _base = model.hfield_size[hfield_id]
+    adr = int(model.hfield_adr[hfield_id])
+    elevation = model.hfield_data[adr : adr + nrow * ncol].reshape(nrow, ncol)
+
+    xx, yy = np.meshgrid(np.linspace(-sx, sx, ncol), np.linspace(-sy, sy, nrow))
+    vertices = np.stack((xx, yy, elevation * sz), axis=-1).reshape(-1, 3)
+
+    rows, cols = np.mgrid[: nrow - 1, : ncol - 1]
+    i0 = (rows * ncol + cols).ravel()
+    faces = np.column_stack(
+        (i0, i0 + 1, i0 + ncol + 1, i0, i0 + ncol + 1, i0 + ncol)
+    ).reshape(-1, 3)
+
+    uvs = None
+    if with_uvs:
+        uu, vv = np.meshgrid(np.linspace(0, 1, ncol), np.linspace(0, 1, nrow))
+        uvs = np.stack((uu, vv), axis=-1).reshape(-1, 2).astype(np.float32)
+    return vertices.astype(np.float32), faces.astype(np.uint32), uvs